diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
index b21010a3900f02a7d8bf5944d60e3f847e6d325b..43a789173d40fd66ca954c2f07b84c30cec123d6 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
@@ -473,6 +473,8 @@
     </RobotNodeSet>
 
 
+
+
     <RobotNodeSet name="IKVirtualGaze" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
         <Node name="Neck_1_Pitch"/>
         <Node name="Neck_2_Roll"/>
@@ -482,6 +484,14 @@
     </RobotNodeSet>
 
 
+    <RobotNodeSet name="IKVirtualGaze_NoRoll" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
+        <Node name="Neck_1_Pitch"/>
+        <Node name="Neck_3_Yaw"/>
+        <Node name="Cameras"/>
+        <Node name="VirtualCentralGaze"/>
+    </RobotNodeSet>
+
+
     <RobotNodeSet name="IKVirtualGazeKinect" kinematicRoot="Neck_1_Pitch" tcp="Kinect">
         <Node name="Neck_1_Pitch"/>
         <Node name="Neck_2_Roll"/>
diff --git a/data/RobotAPI/robots/Armar3b/ArmarIII-Head.xml b/data/RobotAPI/robots/Armar3b/ArmarIII-Head.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1237938c255c8d36082f14e87c7e4107e1bb721d
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/ArmarIII-Head.xml
@@ -0,0 +1,502 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="ArmarIII Head" RootNode="Head Base">
+    
+    <RobotNode name="Head Base">
+        <Transform>
+            <DH theta="90" d="0" a="0" alpha="0" unitsangle="degree" unitslength="mm"/>
+        </Transform>
+                
+        <Visualization>
+            <File type="Inventor">fullmodel/head_base.iv</File>
+        </Visualization>
+        
+        <Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="4" units="kg" />
+        </Physics>
+        
+        <CollisionModel>
+            <File type="Inventor">convexModel/head_base.iv</File>
+        </CollisionModel>   
+
+        <Child name="Neck_1_Pitch"/>
+    </RobotNode>
+
+    <RobotNode name="Neck_1_Pitch">
+        <Transform>
+            <DH theta="0" d="0" a="0" alpha="90" unitsangle="degree" unitslength="mm"/>
+            <DH theta="90" d="0" a="0" alpha="0" unitsangle="degree" unitslength="mm"/>
+        </Transform>
+                
+
+        <Joint type="revolute">
+            <!--DH theta="90" d="0" a="0" alpha="90" unitsangle="degree" unitslength="mm"/-->
+            <axis x="0" y="0" z="-1"/>
+            <Limits unit="degree" lo="-20" hi="29"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="3000"/>
+        </Joint>
+
+        <Visualization>
+            <File type="Inventor">fullmodel/neck_pitch_link.iv</File>           
+        </Visualization>
+        
+        <Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="4" units="kg" />
+            <IgnoreCollision name="Hip Yaw"/>
+        </Physics>
+        
+        <CollisionModel>
+            <File type="Inventor">convexModel/neck_pitch_link.iv</File>
+        </CollisionModel>
+        
+        <Child name="Neck_2_Roll"/>
+    </RobotNode>
+        
+    <RobotNode name="Neck_2_Roll">
+        <Transform>
+			<DH a="0" d="0" theta="0" alpha="90" unitsangle="degree" unitslength="mm"/>
+			<DH a="0" d="0" theta="90" alpha="0" unitsangle="degree" unitslength="mm"/>
+		</Transform>
+        <Joint type="revolute">
+            <!--DH theta="90" d="0" a="0" alpha="90" unitsangle="degree" unitslength="mm"/-->
+            <axis x="0" y="0" z="1"/>
+            <Limits unit="degree" lo="-45" hi="45"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="3000"/>
+        </Joint>
+        
+        <Visualization>
+            <File type="Inventor">fullmodel/neck_roll_link.iv</File>
+        </Visualization>
+                
+        <Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="2" units="kg" />
+            <IgnoreCollision name="Hip Yaw"/>
+            <IgnoreCollision name="Head Base"/>
+        </Physics>
+        
+        <CollisionModel>
+            <File type="Inventor">convexModel/neck_roll_link.iv</File>
+        </CollisionModel>
+        
+        <Child name="Neck_3_Yaw"/>
+    </RobotNode>    
+    
+    <RobotNode name="Neck_3_Yaw">
+       <Transform>
+			<DH a="0" d="0" theta="0" alpha="90" unitsangle="degree" unitslength="mm"/>
+			<DH a="0" d="0" theta="90" alpha="0" unitsangle="degree" unitslength="mm"/>
+		</Transform>
+        <Joint type="revolute">
+            <!--DH theta="90" d="120" a="0"  alpha="90" unitsangle="degree" unitslength="mm"/-->
+            <axis x="0" y="0" z="-1"/>
+            <Limits unit="degree" lo="-120" hi="120"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="3000"/>
+        </Joint>
+        
+        <Visualization>
+            <File type="Inventor">fullmodel/neck_yaw_link.iv</File>
+        </Visualization>
+                
+        <Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="2" units="kg" />
+        </Physics>
+        
+        <CollisionModel>
+            <File type="Inventor">convexModel/neck_yaw_link.iv</File>
+        </CollisionModel>
+
+        <Child name="Head_Tilt"/>
+    </RobotNode>
+
+    <RobotNode name="Head_Tilt">
+        <Transform>
+			<DH theta="0" d="120" a="0" alpha="90" unitsangle="degree" unitslength="mm"/>
+		</Transform>
+        <Joint type="revolute">
+            <!--DH theta="0" d="0" a="0"  alpha="-90" unitsangle="degree" unitslength="mm"/-->
+            <axis x="0" y="0" z="1"/>
+            <!--<Limits unit="degree" lo="-45" hi="45"/>/-->
+            <Limits unit="degree" lo="-10" hi="30"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="3000"/>
+        </Joint>
+        
+        <Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="6.79877000" units="kg" />
+            <IgnoreCollision name="Neck_2_Roll"/>
+            <IgnoreCollision name="Hip Yaw"/>
+        </Physics>
+        
+        <Visualization>
+            <File type="Inventor">fullmodel/head.iv</File>
+        </Visualization>
+        
+        <CollisionModel>
+            <File type="Inventor">convexModel/head.iv</File>
+        </CollisionModel>  
+         
+        <Child name="Head Center1"/>
+    </RobotNode>
+    
+    <RobotNode name="Head Center1">
+        <Transform>
+			<DH theta="0" d="0" a="0" alpha="-90" unitsangle="degree" unitslength="mm"/>
+		</Transform>
+        <Child name="Head Center"/>
+    </RobotNode>
+ 
+ 
+    <RobotNode name="Head Center">
+        <Transform>
+			<DH theta="0" d="54.5" a="0" alpha="-90" unitsangle="degree" unitslength="mm"/>
+		</Transform>
+        <Child name="Cameras"/>
+        <Child name="Jaw"/>
+        <Child name="Kinect"/>
+        <Child name="DepthCamera"/>
+        <Child name="DepthCameraSim"/>
+        <Child name="HeadIMU"/>
+    </RobotNode>
+
+    <RobotNode name="Jaw"> 
+        <Joint type="revolute"> 
+            <axis x="0" y="0" z="1"/>
+            <Limits unit="degree" lo="-30" hi="30"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="3000"/>
+        </Joint>
+        <Visualization> 
+            <File type="Inventor">fullmodel/jaw.iv</File>
+        </Visualization>
+    </RobotNode>
+
+    <RobotNode name="Cameras">
+        <Transform>
+            <Translation x="100" y="0" z="0" units='mm'/>
+        </Transform>
+        <Joint type="revolute">
+            <Axis x="0" y="0" z="-1"/>
+            <Limits unit="degree" lo="-20" hi="5"/> <!-- Motor encoder gives values until -24, but eyes only move until -20 or -21 -->
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="3000"/>
+        </Joint>
+
+        <CollisionModel>
+            <File type="Inventor">iv_primitives/cyl2.wrl</File>
+        </CollisionModel> 
+
+        <Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="0.2" units="kg" />
+            <IgnoreCollision name="Neck_2_Roll"/>
+            <IgnoreCollision name="Hip Yaw"/>            
+	    <IgnoreCollision name="Head_Tilt"/>
+        </Physics>
+
+        <Child name="Eye_Left_Dummy"/>
+        <Child name="Eye_Right_Dummy"/>
+        <Child name="VirtualCentralGaze"/>
+    </RobotNode>
+
+    <RobotNode name="VirtualCentralGaze">
+        <Joint type="prismatic">
+            <TranslationDirection x="1" y="0" z="0"/>
+            <Limits unit="mm" lo="0" hi="10000"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="3000"/>
+        </Joint>
+        <Visualization enable="true">
+            <CoordinateAxis type="Inventor" enable="false" scaling="3"/>
+        </Visualization>
+    </RobotNode>
+
+    <RobotNode name="Kinect">
+        <Transform>
+            <Translation x="140" y="-100" z="0" units='mm'/>
+        </Transform>
+        <Joint type="prismatic">
+            <TranslationDirection x="1" y="0" z="0"/>
+            <Limits unit="mm" lo="0" hi="10000"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="3000"/>
+        </Joint>
+        <Visualization enable="true">
+            <CoordinateAxis type="Inventor" enable="false" scaling="3"/>
+        </Visualization>
+    </RobotNode>
+
+    <RobotNode name="DepthCamera">
+        <Transform>
+            <Translation x="105" y="70" z="0" units='mm'/>
+            <rollpitchyaw roll="0" pitch="90" yaw="0" unitsAngle="degree"/>
+            <rollpitchyaw roll="0" pitch="0" yaw="180" unitsAngle="degree"/>
+            <rollpitchyaw roll="16.0" pitch="0" yaw="0" unitsAngle="degree"/>
+            <rollpitchyaw roll="0" pitch="0" yaw="180" unitsAngle="degree"/>
+        </Transform>
+        
+        <Visualization enable="true">
+            <CoordinateAxis type="Inventor" enable="false" scaling="3"/>
+        </Visualization>
+    </RobotNode>
+
+    <RobotNode name="DepthCameraSim">
+        <Transform>
+            <Translation x="105" y="70" z="0" units='mm'/>
+            <rollpitchyaw roll="0" pitch="90" yaw="0" unitsAngle="degree"/>
+            <rollpitchyaw roll="0" pitch="0" yaw="180" unitsAngle="degree"/>
+            <rollpitchyaw roll="20.7" pitch="0" yaw="0" unitsAngle="degree"/>
+            <rollpitchyaw roll="0" pitch="0" yaw="270" unitsAngle="degree"/>
+        </Transform>
+        
+        <Visualization enable="true">
+            <CoordinateAxis type="Inventor" enable="false" scaling="3"/>
+        </Visualization>
+    </RobotNode>
+
+    <RobotNode name="HeadIMU">
+        <Transform>
+            <Translation x="0" y="-10" z="0" units='mm'/>
+            <rollpitchyaw roll="90" pitch="0" yaw="0" unitsAngle="degree"/>
+        </Transform>
+        
+        <Visualization enable="true">
+            <CoordinateAxis type="Inventor" enable="false" scaling="3"/>
+        </Visualization>
+    </RobotNode>
+
+
+    
+    <RobotNode name="Eye_Left_Dummy">
+        <Transform>
+          <DH a="0" d="46.5" theta="0" alpha="-90" unitsangle="degree" unitslength="mm"/>
+        </Transform>
+        <Child name="Eye_Left"/>
+    </RobotNode>
+
+    <RobotNode name="Eye_Right_Dummy">
+        <Transform>
+          <DH a="0" d="-46.5" theta="0" alpha="-90" unitsangle="degree" unitslength="mm"/>
+        </Transform>
+        <Child name="Eye_Right"/>
+      </RobotNode>
+
+    <RobotNode name="Eye_Left">
+        <Joint type="revolute">
+          <Axis x="0" y="0" z="1"/>
+          <Limits unit="degree" lo="-30" hi="30"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="3000"/>
+        </Joint>
+        <Visualization>
+          <File type="Inventor">fullmodel/eye_l.iv</File>
+        </Visualization>
+
+
+        <CollisionModel>
+            <File type="Inventor">iv_primitives/cyl1.wrl</File>
+        </CollisionModel> 
+
+        <Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="0.1" units="kg" />
+            <IgnoreCollision name="Cameras"/>            
+	    <IgnoreCollision name="Head_Tilt"/>
+        </Physics>
+
+        <Child name="Lid Left Bottom"/>
+        <Child name="Lid Left Top"/>
+        <Child name="EyeLeftCameraPreTransformation"/>
+    </RobotNode>
+
+    <RobotNode name="Eye_Right">
+        <Joint type="revolute">
+          <Axis x="0" y="0" z="1"/>
+          <Limits unit="degree" lo="-30" hi="30"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="3000"/>
+        </Joint>
+        <Visualization>
+          <File type="Inventor">fullmodel/eye_r.iv</File>
+        </Visualization>
+
+        <CollisionModel>
+            <File type="Inventor">iv_primitives/cyl1.wrl</File>
+        </CollisionModel> 
+
+        <Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="0.1" units="kg" />
+            <IgnoreCollision name="Cameras"/>            
+	    <IgnoreCollision name="Head_Tilt"/>
+        </Physics>
+
+        <Child name="Lid Right Bottom"/>
+        <Child name="Lid Right Top"/>
+        <Child name="EyeRightCameraPreTransformation"/>
+    </RobotNode>
+
+    <RobotNode name="EyeLeftCameraPreTransformation">
+        <Transform>
+            <translation x="20" y="0" z="0"/>
+            <RollPitchYaw roll="0" pitch="90" yaw ="0" units="degree"/>
+        </Transform>
+        <Child name="EyeLeftCamera"/>
+        <Child name="EyeLeftCameraSim"/>
+    </RobotNode>
+
+    <RobotNode name="EyeLeftCamera">
+        <Transform>
+            <RollPitchYaw roll="0" pitch="0" yaw ="90" units="degree"/>
+        </Transform>
+	<Visualization enable="true">
+                <CoordinateAxis type="Inventor" enable="false" scaling="5"/>
+	</Visualization>
+        <Child name="HeadMotionMeasurementTCP"/>
+        <!--Sensor type="Camera" name="LeftEyeCam">
+        </Sensor-->
+    </RobotNode>
+
+    <RobotNode name="EyeLeftCameraSim">
+        <Transform>
+            <RollPitchYaw roll="0" pitch="0" yaw ="180" units="degree"/>
+        </Transform>
+    </RobotNode>
+    
+    <RobotNode name="HeadMotionMeasurementTCP">
+        <Transform>
+            <translation x="0" y="0" z="1000"/>
+        </Transform>
+    </RobotNode>
+
+  <RobotNode name="Lid Left Bottom">
+    <Joint type="revolute">
+      <Axis x="0" y="1" z="0"/>
+        <MaxVelocity unit="radian" value="1"/>
+        <MaxAcceleration value="10"/>
+        <MaxTorque value="3000"/>
+    </Joint>
+    <Visualization>
+      <File type="Inventor">fullmodel/lid_l_bottom.iv</File>
+    </Visualization>
+  </RobotNode>
+  
+  <RobotNode name="Lid Left Top">
+    <Joint type="revolute">
+      <Axis x="0" y="1" z="0"/>
+    </Joint>
+    <Visualization>
+      <File type="Inventor">fullmodel/lid_l_top.iv</File>
+    </Visualization>
+  </RobotNode>
+
+    <RobotNode name="EyeRightCameraPreTransformation">
+        <Transform>
+            <translation x="20" y="0" z="0"/>
+            <RollPitchYaw roll="0" pitch="90" yaw ="0" units="degree"/>
+        </Transform>
+        <Child name="EyeRightCamera"/>
+        <Child name="EyeRightCameraSim"/>
+    </RobotNode>
+
+    <RobotNode name="EyeRightCamera">
+        <Transform>
+            <RollPitchYaw roll="0" pitch="0" yaw ="90" units="degree"/>
+        </Transform>
+        <!--Sensor type="Camera" name="RightEyeCam">
+        </Sensor-->
+    </RobotNode>
+
+    <RobotNode name="EyeRightCameraSim">
+        <Transform>
+            <RollPitchYaw roll="0" pitch="0" yaw ="180" units="degree"/>
+        </Transform>
+    </RobotNode>
+
+  <RobotNode name="Lid Right Bottom">
+    <Joint type="revolute">
+      <Axis x="0" y="1" z="0"/>
+        <MaxVelocity unit="radian" value="1"/>
+        <MaxAcceleration value="10"/>
+        <MaxTorque value="3000"/>
+    </Joint>
+    <Visualization>
+      <File type="Inventor">fullmodel/lid_r_bottom.iv</File>
+    </Visualization>
+  </RobotNode>
+
+  <RobotNode name="Lid Right Top">
+  <Joint type="revolute">
+    <Axis x="0" y="1" z="0"/>
+      <MaxVelocity unit="radian" value="1"/>
+      <MaxAcceleration value="10"/>
+      <MaxTorque value="3000"/>
+  </Joint>
+    <Visualization>
+      <File type="Inventor">fullmodel/lid_r_top.iv</File>
+    </Visualization>
+  </RobotNode>
+  
+    <RobotNodeSet name="Head" kinematicRoot="Neck_1_Pitch">
+        <Node name="Neck_1_Pitch"/>
+        <Node name="Neck_2_Roll"/>
+        <Node name="Neck_3_Yaw"/>
+        <Node name="Head_Tilt"/>
+        <Node name="Cameras"/>
+        <Node name="Eye_Left"/>
+        <Node name="Eye_Right"/>
+    </RobotNodeSet>
+
+
+    <RobotNodeSet name="Neck" kinematicRoot="Neck_1_Pitch">
+        <Node name="Neck_1_Pitch"/>
+        <Node name="Neck_2_Roll"/>
+        <Node name="Neck_3_Yaw"/>
+        <Node name="Head_Tilt"/>
+    </RobotNodeSet>
+
+
+    <RobotNodeSet name="IKVirtualGaze" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
+        <Node name="Neck_1_Pitch"/>
+        <Node name="Neck_2_Roll"/>
+        <Node name="Neck_3_Yaw"/>
+        <Node name="Cameras"/>
+        <Node name="VirtualCentralGaze"/>
+    </RobotNodeSet>
+
+
+    <RobotNodeSet name="IKVirtualGazeKinect" kinematicRoot="Neck_1_Pitch" tcp="Kinect">
+        <Node name="Neck_1_Pitch"/>
+        <Node name="Neck_2_Roll"/>
+        <Node name="Neck_3_Yaw"/>
+        <Node name="Kinect"/>
+    </RobotNodeSet>
+
+
+    <RobotNodeSet name="IKVirtualGaze_WithHeadTilt" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
+        <Node name="Neck_1_Pitch"/>
+        <Node name="Neck_2_Roll"/>
+        <Node name="Neck_3_Yaw"/>
+        <Node name="Head_Tilt"/>
+        <Node name="Cameras"/>
+        <Node name="VirtualCentralGaze"/>
+    </RobotNodeSet>
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3b/ArmarIII-Head_minColModel.xml b/data/RobotAPI/robots/Armar3b/ArmarIII-Head_minColModel.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bf9e3e887b9503dc97ea4768158d2cc2a1f3c45e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/ArmarIII-Head_minColModel.xml
@@ -0,0 +1,221 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="ArmarIII Head" RootNode="Head Base">
+    
+    <RobotNode name="Head Base">
+        <Joint type="fixed">
+            <DH theta="90" d="0" a="0" alpha="90" units="degree"/>
+        </Joint>
+        <Child name="Neck_1_Pitch"/>
+        <Visualization>
+            <File type="Inventor">fullmodel/head_base.iv</File>
+        </Visualization>
+    </RobotNode>
+
+    <RobotNode name="Neck_1_Pitch">
+        <Joint type="revolute">
+            <DH theta="90" d="0" a="0" alpha="90" units="degree"/>
+            <Limits unit="degree" lo="-45" hi="45"/>
+        </Joint>
+
+        <Visualization>
+            <File type="Inventor">fullmodel/neck_pitch_link.iv</File>           
+        </Visualization>
+        <Child name="Neck_2_Roll"/>
+    </RobotNode>
+        
+    <RobotNode name="Neck_2_Roll">
+        <Joint type="revolute">
+            <DH theta="90" d="0" a="0" alpha="90" units="degree"/>
+            <Limits unit="degree" lo="-45" hi="45"/>
+        </Joint>
+        <Visualization>
+            <File type="Inventor">fullmodel/neck_roll_link.iv</File>
+        </Visualization>
+        <Child name="Neck_3_Yaw"/>
+    </RobotNode>    
+    
+    <RobotNode name="Neck_3_Yaw">
+        <Joint type="revolute">
+            <DH theta="90" d="120" a="0"  alpha="90" units="degree"/>
+            <Limits unit="degree" lo="-45" hi="45"/>
+        </Joint>
+        <Visualization>
+            <File type="Inventor">fullmodel/neck_yaw_link.iv</File>
+        </Visualization>
+        <Child name="Head_Tilt"/>
+    </RobotNode>
+
+    <RobotNode name="Head_Tilt">
+        <Joint type="revolute">
+            <DH theta="0" d="0" a="0"  alpha="-90" units="degree"/>
+            <Limits unit="degree" lo="-45" hi="45"/>
+        </Joint>
+        <Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="6.79877000" units="kg" />
+        </Physics>
+        <Visualization>
+            <File type="Inventor">fullmodel/head.iv</File>
+        </Visualization>
+        <CollisionModel>
+            <File type="Inventor">collisionModel/head.iv</File>
+        </CollisionModel>   
+        <Child name="Head Center"/>
+    </RobotNode>
+    
+    <RobotNode name="Head Center">
+        <Joint type="fixed">
+          <DH theta="0" d="54.5" a="0" alpha="-90" units="degree"/>
+        </Joint>
+        <Child name="Cameras"/>
+        <Child name="Jaw"/>
+    </RobotNode>
+
+    <RobotNode name="Jaw"> 
+        <Joint type="revolute"> 
+            <DH theta="0" d="0" a="0" alpha="0" units="degree"/>
+            <Limits unit="degree" lo="-30" hi="30"/>
+        </Joint>
+        <Visualization> 
+            <File type="Inventor">fullmodel/jaw.iv</File>
+        </Visualization>
+    </RobotNode>
+
+    <RobotNode name="Cameras">
+        <!-- TODO: this was an AlphaJoint: but rotations around alpha axis are not supported by DH!! -->
+        <Joint type="revolute">
+            <PreJointTransform>
+                <Transform>
+                    <Translation x="100" y="0" z="0"/>
+                </Transform>
+            </PreJointTransform>       
+            <Axis x="0" y="0" z="1"/>
+            <PostJointTransform>
+                <Transform>
+                    <Translation x="0" y="0" z="0"/>
+                </Transform>
+            </PostJointTransform>
+            <Limits unit="degree" lo="-30" hi="45"/>
+        </Joint>
+        <Child name="Eye_Left_Dummy"/>
+        <Child name="Eye_Right_Dummy"/>
+    </RobotNode>
+
+    <RobotNode name="Eye_Left_Dummy">
+        <Joint type="fixed">
+            <DH a="0" d="46.5" theta="0" alpha="-90" units="degree"/>
+        </Joint>
+        <Child name="Eye_Left"/>
+    </RobotNode>
+
+    <RobotNode name="Eye_Right_Dummy">
+        <Joint type="fixed">
+          <DH a="0" d="-46.5" theta="0" alpha="-90" units="degree"/>
+        </Joint>
+        <Child name="Eye_Right"/>
+      </RobotNode>
+
+    <RobotNode name="Eye_Left">
+        <Joint type="revolute">
+          <DH theta="0" d="0" a="0" alpha="0" units="degree"/>
+          <Limits unit="degree" lo="-30" hi="30"/>
+        </Joint>
+        <Visualization>
+          <File type="Inventor">fullmodel/eye_l.iv</File>
+        </Visualization>
+        <Child name="Lid Left Bottom"/>
+        <Child name="Lid Left Top"/>
+        <Child name="EyeLeftCamera"/>
+    </RobotNode>
+
+    <RobotNode name="Eye_Right">
+        <Joint type="revolute">
+          <DH theta="0" d="0" a="0" alpha="0" units="degree"/>
+          <Limits unit="degree" lo="-30" hi="30"/>
+        </Joint>
+        <Visualization>
+          <File type="Inventor">fullmodel/eye_r.iv</File>
+        </Visualization>
+        <Child name="Lid Right Bottom"/>
+        <Child name="Lid Right Top"/>
+        <Child name="EyeRightCamera"/>
+    </RobotNode>
+
+    <RobotNode name="EyeLeftCamera">
+        <Joint type="fixed">
+            <PreJointTransform>
+                <Transform>
+                    <translation x="20" y="0" z="0"/>
+                    <RollPitchYaw roll="0" pitch="90" yaw ="0" units="degree"/>
+                </Transform>
+            </PreJointTransform>
+        </Joint>
+    </RobotNode>
+
+  <RobotNode name="Lid Left Bottom">
+    <Joint type="revolute">
+      <Axis x="0" y="1" z="0"/>
+    </Joint>
+    <Visualization>
+      <File type="Inventor">fullmodel/lid_l_bottom.iv</File>
+    </Visualization>
+  </RobotNode>
+  
+  <RobotNode name="Lid Left Top">
+    <Joint type="revolute">
+      <Axis x="0" y="1" z="0"/>
+    </Joint>
+    <Visualization>
+      <File type="Inventor">fullmodel/lid_l_top.iv</File>
+    </Visualization>
+  </RobotNode>
+
+    <RobotNode name="EyeRightCamera">
+        <Joint type="fixed">
+            <PreJointTransform>
+                <Transform>
+                    <translation x="20" y="0" z="0"/>
+                    <RollPitchYaw roll="0" pitch="90" yaw ="0" units="degree"/>
+                </Transform>
+            </PreJointTransform>
+        </Joint>
+    </RobotNode>
+
+  <RobotNode name="Lid Right Bottom">
+    <Joint type="revolute">
+      <Axis x="0" y="1" z="0"/>
+    </Joint>
+    <Visualization>
+      <File type="Inventor">fullmodel/lid_r_bottom.iv</File>
+    </Visualization>
+  </RobotNode>
+
+  <RobotNode name="Lid Right Top">
+  <Joint type="revolute">
+    <Axis x="0" y="1" z="0"/>
+  </Joint>
+    <Visualization>
+      <File type="Inventor">fullmodel/lid_r_top.iv</File>
+    </Visualization>
+  </RobotNode>
+  
+    <RobotNodeSet name="Head" kinematicRoot="Neck_1_Pitch">
+        <Node name="Neck_1_Pitch"/>
+        <Node name="Neck_2_Roll"/>
+        <Node name="Neck_3_Yaw"/>
+        <Node name="Head_Tilt"/>
+        <Node name="Cameras"/>
+        <Node name="Eye_Left"/>
+        <Node name="Eye_Right"/>
+    </RobotNodeSet>
+
+
+    <RobotNodeSet name="Neck" kinematicRoot="Neck_1_Pitch">
+        <Node name="Neck_1_Pitch"/>
+        <Node name="Neck_2_Roll"/>
+        <Node name="Neck_3_Yaw"/>
+        <Node name="Head_Tilt"/>
+    </RobotNodeSet>
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3b/ArmarIII-LeftArm.xml b/data/RobotAPI/robots/Armar3b/ArmarIII-LeftArm.xml
new file mode 100644
index 0000000000000000000000000000000000000000..23373322946aadb671a13acfdc026d4f99aa3d8e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/ArmarIII-LeftArm.xml
@@ -0,0 +1,274 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="ArmarIII LeftArm" RootNode="Left Arm Base">
+
+  <RobotNode name="Left Arm Base">
+    <!-- Trafo BTo0; COS 0; DOF q1 -->
+    <Transform>
+      <DH a="0" d="0" theta="-90" alpha="90" units="degree"/>
+    </Transform>
+    <Child name="Shoulder 1 L"/>
+  </RobotNode>
+
+  <RobotNode name="Shoulder 1 L">
+    <!-- Trafo BTo0; COS 0; DOF q1 -->
+    <Transform>
+      <DH a="0" d="0" theta="90" alpha="0" units="degree"/>
+    </Transform>
+    <Joint type="revolute">
+      <!--DH a="0" d="0" theta="90" alpha="90" units="degree"/-->
+      <axis x="0" y="0" z="1"/>
+      <Limits unit="degree" lo="-107" hi="42"/>
+		<MaxVelocity unit="radian" value="1"/>
+		<MaxAcceleration value="10"/>
+                <MaxTorque value="3000"/>
+    </Joint>
+    <Physics>
+      <CoM location="VisualizationBBoxCenter"/>
+      <Mass value="3.65" units="kg" />
+    </Physics>
+    <Visualization enable="true">
+      <File type="Inventor">fullmodel/shoulder_l.iv</File>
+    </Visualization>
+    <CollisionModel>
+      <File type="Inventor">convexModel/shoulder_l.iv</File>
+    </CollisionModel>
+    <Child name="Shoulder 2 L"/>
+  </RobotNode>
+
+  <RobotNode name="Shoulder 2 L">
+    <!-- Trafo 0To1; COS 1; DOF q2 -->
+    <Transform>
+      <DH a="0" d="0" theta="0" alpha="90" units="degree"/>
+      <DH a="0" d="0" theta="75" alpha="0" units="degree"/>
+    </Transform>
+    <Joint type="revolute">
+      <!--DH a="0" d="0" theta="75" alpha="90" units="degree"/-->
+      <axis x="0" y="0" z="-1"/>
+      <Limits unit="degree" lo="-14" hi="95"/>
+		<MaxVelocity unit="radian"  value="1"/>
+		<MaxAcceleration value="10"/>
+                <MaxTorque value="3000"/>
+    </Joint>
+    <Physics>
+      <CoM location="VisualizationBBoxCenter"/>
+      <Mass value="2.5" units="kg" />
+    </Physics>
+    <Visualization enable="true">
+      <File type="Inventor">fullmodel/shoulder2_l_rot.iv</File>
+    </Visualization>
+    <CollisionModel>
+      <File type="Inventor">convexModel/shoulder2_l_rot.iv</File>
+    </CollisionModel>
+    <Child name="Upperarm L"/>
+  </RobotNode>
+
+  <RobotNode name="Upperarm L">
+    <!-- Trafo 1To2; COS 2; DOF q3 -->
+    <Transform>
+      <DH a="0" d="0" theta="0" alpha="90" units="degree"/>
+      <DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+    </Transform>
+    <Joint type="revolute">
+      <!--DH a="20" d="-310" theta="-90" alpha="90" units="degree"/-->
+      <axis x="0" y="0" z="-1"/>
+      <Limits unit="degree" lo="-70" hi="70"/>
+		<MaxVelocity unit="radian" value="1"/>
+		<MaxAcceleration value="10"/>
+                <MaxTorque value="3000"/>
+    </Joint>
+    <Physics>
+      <CoM location="VisualizationBBoxCenter"/>
+      <Mass value="1.55685000" units="kg" />
+      <IgnoreCollision name="Shoulder 1 L"/>
+    </Physics>
+    <Visualization enable="true">
+      <File type="Inventor">fullmodel/upperarm_l.iv</File>
+    </Visualization>
+    <CollisionModel>
+      <File type="Inventor">convexModel/upperarm_l.iv</File>
+    </CollisionModel>
+    <Child name="Elbow L"/>
+  </RobotNode>
+
+  <RobotNode name="Elbow L">
+    <Transform>
+      <DH a="20" d="-310" theta="0" alpha="90" units="degree"/>
+      <DH a="0" d="0" theta="90" alpha="0" units="degree"/>
+    </Transform>
+    <Joint type="revolute">
+      <!--DH a="0" d="-7.5" theta="90" alpha="-90" units="degree"/-->
+      <axis x="0" y="0" z="1"/>
+      <Limits unit="degree" lo="-90" hi="19"/>
+		<MaxVelocity unit="radian" value="1"/>
+		<MaxAcceleration value="10"/>
+                <MaxTorque value="3000"/>
+    </Joint>
+    <Visualization enable="true">
+      <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+      <File type="Inventor">fullmodel/elbow_l.iv</File>
+    </Visualization>
+    <CollisionModel>
+      <File type="Inventor">convexModel/elbow_l.iv</File>
+    </CollisionModel>
+    <Physics>
+      <CoM location="Joint"/>
+      <Mass value="1.15744000" units="kg" />
+    </Physics>
+    <Child name="Underarm L"/>
+  </RobotNode>
+
+  <RobotNode name="Underarm L">
+    <Transform>
+      <DH a="0" d="-7.5" theta="0" alpha="-90" units="degree"/>
+      <DH a="0" d="0" theta="90" alpha="0" units="degree"/>
+    </Transform>
+    <Joint type="revolute">
+      <!--DH a="0" d="-240" theta="90" alpha="-90" units="degree"/-->
+      <axis x="0" y="0" z="-1"/>
+      <!--Limits unit="degree" lo="-57.29" hi="174.48"/-->
+      <Limits unit="degree" lo="-90" hi="158"/>
+		<MaxVelocity unit="radian" value="1"/>
+		<MaxAcceleration value="10"/>
+                <MaxTorque value="3000"/>
+    </Joint>
+    <Visualization enable="true">
+      <File type="Inventor">fullmodel/underarm_l.iv</File>
+    </Visualization>
+    <CollisionModel>
+      <File type="Inventor">convexModel/underarm_l.iv</File>
+    </CollisionModel>
+    <Physics>
+      <CoM location="VisualizationBBoxCenter"/>
+      <Mass value="2.26566087" units="kg" />
+    </Physics>
+    <Child name="Wrist 1 L"/>
+  </RobotNode>
+
+  <RobotNode name="Wrist 1 L">
+    <Transform>
+      <DH a="0" d="-240" theta="0" alpha="-90" units="degree"/>
+      <DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+    </Transform>
+    <Joint type="revolute">
+      <!--DH a="0" d="0" theta="-90" alpha="-90" units="degree"/-->
+      <axis x="0" y="0" z="-1"/>
+      <Limits unit="degree" lo="-29" hi="30"/>
+		<MaxVelocity unit="radian" value="1"/>
+		<MaxAcceleration value="10"/>
+                <MaxTorque value="3000"/>
+    </Joint>
+    <Physics>
+      <CoM location="VisualizationBBoxCenter"/>
+      <Mass value="1.29945309" units="kg" />
+    </Physics>
+    <Visualization enable="true">
+      <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+      <File type="Inventor">fullmodel/wrist1_l.iv</File>
+    </Visualization>
+    <CollisionModel>
+      <File type="Inventor">convexModel/wrist1_l.iv</File>
+    </CollisionModel>
+    <Child name="Wrist 2 L"/>
+  </RobotNode>
+
+  <RobotNode name="Wrist 2 L">
+    <Transform>
+      <DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
+      <DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+    </Transform>
+    <Joint type="revolute">
+      <!--DH a="0" d="0" theta="-90" alpha="90" units="degree"/-->
+      <axis x="0" y="0" z="1"/>
+      <Limits unit="degree" lo="-38" hi="44"/>
+		<MaxVelocity unit="radian" value="1"/>
+		<MaxAcceleration value="10"/>
+                <MaxTorque value="3000"/>
+    </Joint>
+
+    <Visualization enable="true">
+      <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+      <File type="Inventor">fullmodel/wrist2_l.iv</File>
+    </Visualization>
+    <!-- bullet doesn't like two models connected with a fixed joint -> disable this collisison model and just use the hand palm model-->
+    <!--CollisionModel>
+      <File type="Inventor">convexModel/wrist2_l.iv</File>
+    </CollisionModel>
+
+    <Physics>
+      <CoM location="VisualizationBBoxCenter"/>
+      <Mass value="2.59945309" units="kg" />
+      <IgnoreCollision name="Underarm L"/>
+    </Physics-->
+    <Sensor type="forcetorque" name="FT L">
+		<!--Transform>
+            <Translation x="0" y="-40" z="0"/>
+        </Transform-->
+    </Sensor>
+    <Child name="EndArmL"/>
+  </RobotNode>
+	
+    <!--RobotNode name="FTSensorL">
+        <Transform>
+            <Translation x="0" y="-40" z="0"/>
+        </Transform>
+        <Sensor type="forcetorque"/>
+        <Child name="EndArmL"/>
+    </RobotNode-->
+
+  <RobotNode name="EndArmL">
+    <Transform>
+	  <Translation x="0" y="-40" z="0"/>
+      <DH a="0" d="0" theta="0" alpha="90" units="degree"/>
+    </Transform>
+    <Visualization enable="false">
+        <CoordinateAxis type="Inventor" enable="true" scaling="2"/>
+    </Visualization>
+    <ChildFromRobot>
+      <File importEEF="true">ArmarIII-LeftHand.xml</File>
+    </ChildFromRobot>
+  </RobotNode>
+
+
+  <RobotNodeSet name="LeftArm" kinematicRoot="Left Arm Base" tcp="TCP L">
+    <Node name="Shoulder 1 L"/>
+    <Node name="Shoulder 2 L"/>
+    <Node name="Upperarm L"/>
+    <Node name="Elbow L"/>
+    <Node name="Underarm L"/>
+    <Node name="Wrist 1 L"/>
+    <Node name="Wrist 2 L"/>
+  </RobotNodeSet>
+
+  <RobotNodeSet name="LeftArmElbow" kinematicRoot="Left Arm Base" tcp="Upperarm L">
+    <Node name="Shoulder 1 L"/>
+    <Node name="Shoulder 2 L"/>
+    <Node name="Upperarm L"/>
+  </RobotNodeSet>
+
+  <RobotNodeSet name="LeftArmColModel" kinematicRoot="Left Arm Base" tcp="TCP L">
+		<Node name="Upperarm L"/>
+		<Node name="Underarm L"/>
+		<Node name="Wrist 2 L"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="LeftArmHandColModel" kinematicRoot="Left Arm Base" tcp="TCP L">
+		<Node name="Upperarm L"/>
+		<Node name="Underarm L"/>
+		<Node name="Hand Palm 1 L"/>
+		<Node name="Hand Palm 2 L"/>
+		<Node name="Thumb L J0"/>
+		<Node name="Thumb L J1"/>
+		<Node name="Index L J0"/>
+		<Node name="Index L J1"/>
+		<Node name="Middle L J0"/>
+		<Node name="Middle L J1"/>
+		<Node name="Ring L J0"/>
+		<Node name="Ring L J1"/>
+		<Node name="Pinky L J0"/>
+		<Node name="Pinky L J1"/>
+	</RobotNodeSet>
+
+
+	
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3b/ArmarIII-LeftArm_minColModel.xml b/data/RobotAPI/robots/Armar3b/ArmarIII-LeftArm_minColModel.xml
new file mode 100644
index 0000000000000000000000000000000000000000..586d73babaaccdbeb8dea53c7bdb26a5ffeca629
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/ArmarIII-LeftArm_minColModel.xml
@@ -0,0 +1,186 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="ArmarIII LeftArm" RootNode="Left Arm Base">
+
+	<RobotNode name="Left Arm Base"> <!-- Trafo BTo0; COS 0; DOF q1 -->
+		<Joint type="fixed">
+			<DH a="0" d="0" theta="-90" alpha="90" units="degree"/>
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		<Child name="Shoulder 1 L"/>
+	</RobotNode>
+	
+	<RobotNode name="Shoulder 1 L"> <!-- Trafo BTo0; COS 0; DOF q1 -->
+		<Joint type="revolute">
+			<DH a="0" d="0" theta="90" alpha="90" units="degree"/>
+			<Limits unit="degree" lo="-106.91" hi="42.8"/>
+		</Joint>
+		<Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="3.65" units="kg" />
+        </Physics>
+        <Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/shoulder_l.iv</File>
+		</Visualization>
+		<CollisionModel>
+			<File type="Inventor">collisionModel/shoulder_l.iv</File>
+		</CollisionModel>
+		<Child name="Shoulder 2 L"/>
+	</RobotNode>
+	
+	<RobotNode name="Shoulder 2 L"> <!-- Trafo 0To1; COS 1; DOF q2 -->
+		<Joint type="revolute">
+			<DH a="0" d="0" theta="75" alpha="90" units="degree"/>
+			<Limits unit="degree" lo="-94.62" hi="13.85"/>  <!-- ?! -->
+		</Joint>
+		<!--Physics>
+            <CoM location="Joint"/>
+            <Mass value="2.54491000" units="kg" />
+        </Physics-->
+        <Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/shoulder2_l_rot.iv</File>
+		</Visualization>
+		<Child name="Upperarm L"/>
+	</RobotNode>
+	
+	<RobotNode name="Upperarm L"> <!-- Trafo 1To2; COS 2; DOF q3 -->
+		<Joint type="revolute">
+			<DH a="20" d="-310" theta="-90" alpha="90" units="degree"/>
+			<Limits unit="degree" lo="-69.65" hi="108.25"/>
+		</Joint>
+		<Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="1.55685000" units="kg" />
+        </Physics>
+        <Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/upperarm_l.iv</File>
+		</Visualization>
+		<CollisionModel>
+			<File type="Inventor">collisionModel/upperarm_l.iv</File>
+		</CollisionModel>
+		<Child name="Elbow L"/>
+	</RobotNode>
+	
+	<RobotNode name="Elbow L">
+		<Joint type="revolute">
+			<DH a="0" d="-7.5" theta="90" alpha="-90" units="degree"/>
+			<Limits unit="degree" lo="-122.96" hi="19.14"/>
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/elbow_l.iv</File>
+		</Visualization>
+		<!--Physics>
+            <CoM location="Joint"/>
+            <Mass value="1.15744000" units="kg" />
+        </Physics-->
+		<!-- TODO elbow_l.iv does not exist (currently not needed)-->
+		<!--<CollisionModel>-->
+			<!--<File type="Inventor">collisionModel/elbow_l.iv</File>-->
+		<!--</CollisionModel>-->
+		<Child name="Underarm L"/>
+	</RobotNode>
+	
+	<RobotNode name="Underarm L">
+		<Joint type="revolute">
+			<DH a="0" d="-240" theta="90" alpha="-90" units="degree"/>
+			<!--Limits unit="degree" lo="-57.29" hi="174.48"/-->
+			<Limits unit="degree" lo="-108.25" hi="69.65"/>
+		</Joint>
+		<Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="2.26566087" units="kg" />
+        </Physics>
+        <Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/underarm_l.iv</File>
+		</Visualization>
+		<CollisionModel>
+			<File type="Inventor">collisionModel/underarm_l.iv</File>
+		</CollisionModel>
+		<Child name="Wrist 1 L"/>
+	</RobotNode>
+	
+	<RobotNode name="Wrist 1 L">
+		<Joint type="revolute">
+			<DH a="0" d="0" theta="-90" alpha="-90" units="degree"/>
+			<Limits unit="degree" lo="-29.36" hi="24.11"/>
+		</Joint>
+		<!--Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="1.29945309" units="kg" />
+        </Physics-->
+        <Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/wrist1_l.iv</File>
+		</Visualization>
+		<!--CollisionModel>
+			<File type="Inventor">collisionModel/wrist1_l.iv</File>
+		</CollisionModel-->
+		<Child name="Wrist 2 L"/>
+	</RobotNode>
+	
+	<RobotNode name="Wrist 2 L">
+		<Joint type="revolute">
+			<DH a="0" d="0" theta="-90" alpha="90" units="degree"/>
+			<Limits unit="degree" lo="-38.4" hi="44.32"/>
+		</Joint>
+		<Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="2.59945309" units="kg" />
+        </Physics>
+        <Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/wrist2_l.iv</File>
+		</Visualization>
+        <!--CollisionModel>
+			<File type="Inventor">collisionModel/wrist2_l.iv</File>
+		</CollisionModel-->
+		
+		<ChildFromRobot>
+			<File importEEF="true">ArmarIII-LeftHand_minColModel.xml</File>
+		</ChildFromRobot>
+		
+	</RobotNode>
+	
+	<RobotNodeSet name="LeftArm" kinematicRoot="Left Arm Base" tcp="TCP L">
+		<Node name="Shoulder 1 L"/>
+		<Node name="Shoulder 2 L"/>
+		<Node name="Upperarm L"/>
+		<Node name="Elbow L"/>
+		<Node name="Underarm L"/>
+		<Node name="Wrist 1 L"/>
+		<Node name="Wrist 2 L"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="LeftArmColModel" kinematicRoot="Left Arm Base" tcp="TCP L">
+		<Node name="Upperarm L"/>
+		<Node name="Underarm L"/>
+		<Node name="Wrist 2 L"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="LeftArmHandColModel" kinematicRoot="Left Arm Base" tcp="TCP L">
+		<Node name="Upperarm L"/>
+		<Node name="Underarm L"/>
+		<Node name="Hand Palm 1 L"/>
+		<Node name="Hand Palm 2 L"/>
+		<Node name="Thumb L J0"/>
+		<Node name="Thumb L J1"/>
+		<Node name="Index L J0"/>
+		<Node name="Index L J1"/>
+		<Node name="Middle L J0"/>
+		<Node name="Middle L J1"/>
+		<Node name="Ring L J0"/>
+		<Node name="Ring L J1"/>
+		<Node name="Pinky L J0"/>
+		<Node name="Pinky L J1"/>
+	</RobotNodeSet>
+
+
+	
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3b/ArmarIII-LeftHand.xml b/data/RobotAPI/robots/Armar3b/ArmarIII-LeftHand.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2135b1b4d3e78eccb8d09b28e90327bfea051462
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/ArmarIII-LeftHand.xml
@@ -0,0 +1,469 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="ArmarIII LeftHand" RootNode="Hand L Base">
+
+    <RobotNode name="Hand L Base">
+		<Child name="TCP L"/>
+		<Child name="GCP L"/>
+		<Child name="Marker L"/>
+		<Child name="left_hand_configuration_actual_float"/>
+		<Child name="Hand Palm 1 L"/>
+	</RobotNode>
+	
+	<RobotNode name="TCP L">
+		<Transform>
+			<Translation x="0" y="0" z="130"/>
+		</Transform>
+	</RobotNode>
+	
+	<RobotNode name="GCP L">
+		<Transform>
+			<Translation X="-40" Y="-20" Z="90"/>
+			<rollpitchyaw roll="0" pitch="-45" yaw="0" units="degree"/>
+		</Transform>
+	</RobotNode>
+	
+	<RobotNode name="Marker L">
+		<Transform>
+			<Translation x="-35" y="45" z="65"/>
+		</Transform>
+		<Visualization enable="false">
+			<CoordinateAxis type="Inventor" enable="true" scaling="1"/>
+		</Visualization>
+	</RobotNode>
+	
+	<RobotNode name="left_hand_configuration_actual_float">
+                <!--Joint type="revolute">
+			<Axis x="0" y="0" z="1"/>
+			<Limits unit="degree" lo="-20" hi="20"/>
+                </Joint-->
+	</RobotNode>
+	
+	<RobotNode name="Hand Palm 1 L">
+		<Transform>
+			<Translation x="0" y="0" z="36"/>
+		</Transform>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/palm1_l.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/palm1_l.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="800" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Hand Palm 2 L"/>
+		<Child name="Thumb L"/>
+	</RobotNode>
+	
+	<RobotNode name="Hand Palm 2 L">
+		<Transform>
+			<Translation x="-8.7" y="13.5" z="29.25"/>
+		</Transform>
+		<Joint type="revolute">
+			<Axis x="0" y="-1" z="0"/>
+                        <Limits unit="degree" lo="-90" hi="90"/>
+                        <MaxVelocity unit="radian" value="1"/>
+                        <MaxAcceleration value="10"/>
+                        <MaxTorque value="10"/>
+                </Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/palm2_l.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/palm2_l.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="800" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>	
+			
+		<Child name="Pinky L"/>
+		<Child name="Ring L"/>
+		<Child name="Middle L"/>
+		<Child name="Index L"/>
+	</RobotNode>
+	
+	<RobotNode name="Thumb L">
+		<Transform>
+			<Translation x="-48.9" y="0" z="29.25"/>
+		</Transform>
+		<Child name="Thumb L J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Thumb L J0">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<Axis x="0" y="1" z="0"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="10"/>
+        </Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/thumb_l1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/thumb_l1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>	
+			
+		<Child name="Thumb L J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Thumb L J1">
+		<Transform>
+			<Translation x="-40.2" y="0" z="0"/>
+		</Transform>
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<Axis x="0" y="1" z="0"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="10"/>
+        </Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/thumb_l2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/thumb_l2.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+	</RobotNode>
+	
+	<RobotNode name="Pinky L">
+		<Transform>
+			<Translation x="0" y="-73" z="40.4"/>
+		</Transform>
+		
+		<Child name="Pinky L J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Pinky L J0">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<Axis x="0" y="-1" z="0"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="10"/>
+        </Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/pinky_l1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/pinky_l1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Pinky L J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Pinky L J1">
+		<Transform>
+			<Translation x="0" y="0" z="40.2"/>
+		</Transform>
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<Axis x="0" y="-1" z="0"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="10"/>
+        </Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/pinky_l2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/pinky_l2.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+	</RobotNode>
+	
+	<RobotNode name="Ring L">
+		<Transform>
+			<Translation x="0" y="-51" z="40.4"/>
+		</Transform>
+		
+		<Child name="Ring L J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Ring L J0">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<Axis x="0" y="-1" z="0"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="10"/>
+        </Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/ring_l1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/ring_l1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Ring L J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Ring L J1">
+		<Transform>
+			<Translation x="0" y="0" z="40.2"/>
+		</Transform>
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<Axis x="0" y="-1" z="0"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="10"/>
+        </Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/ring_l2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/ring_l2.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+	</RobotNode>
+	
+	<RobotNode name="Middle L">
+		<Transform>
+			<Translation x="0" y="-27" z="40.4"/>
+		</Transform>
+		
+		<Child name="Middle L J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Middle L J0">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<Axis x="0" y="-1" z="0"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="10"/>
+        </Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/middle_l1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/middle_l1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Middle L J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Middle L J1">
+		<Transform>
+			<Translation x="0" y="0" z="40.2"/>
+		</Transform>
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<Axis x="0" y="-1" z="0"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="10"/>
+        </Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/middle_l2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/middle_l2.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+	</RobotNode>
+	
+	<RobotNode name="Index L">
+		<Transform>
+			<Translation x="0" y="0" z="40.2"/>
+		</Transform>
+		
+		<Child name="Index L J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Index L J0">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<Axis x="0" y="-1" z="0"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="10"/>
+        </Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/index_l1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/index_l1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Index L J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Index L J1">
+		<Transform>
+			<Translation x="0" y="0" z="40.2"/>
+		</Transform>
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<Axis x="0" y="-1" z="0"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="10"/>
+        </Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/index_l2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/index_l2.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+	</RobotNode>
+	
+	<RobotNodeSet name="LeftHandColModel" kinematicRoot="Hand L Base" tcp="TCP L">
+		<Node name="Hand Palm 1 L"/>
+		<Node name="Hand Palm 2 L"/>
+		<Node name="Thumb L J0"/>
+		<Node name="Thumb L J1"/>
+		<Node name="Index L J0"/>
+		<Node name="Index L J1"/>
+		<Node name="Middle L J0"/>
+		<Node name="Middle L J1"/>
+		<Node name="Ring L J0"/>
+		<Node name="Ring L J1"/>
+		<Node name="Pinky L J0"/>
+		<Node name="Pinky L J1"/>
+	</RobotNodeSet>
+	
+	
+	<RobotNodeSet name="LeftHandJoints" kinematicRoot="Hand L Base" tcp="TCP L">
+		<Node name="Thumb L J0"/>
+		<Node name="Thumb L J1"/>
+		<Node name="Index L J0"/>
+		<Node name="Index L J1"/>
+		<Node name="Middle L J0"/>
+		<Node name="Middle L J1"/>
+		<Node name="Ring L J0"/>
+		<Node name="Ring L J1"/>
+		<Node name="Pinky L J0"/>
+		<Node name="Pinky L J1"/>
+	</RobotNodeSet>
+
+        <Endeffector name="TCP L" base="Hand L Base" tcp="TCP L" gcp="GCP L">
+	    <Preshape name="Open Preshape">
+	        <Node name="Thumb L J0" unit="radian" value="0"/>
+	        <Node name="Thumb L J1" unit="radian" value="0"/>
+	        <Node name="Index L J0" unit="radian" value="0"/>
+	        <Node name="Index L J1" unit="radian" value="0"/>
+	        <Node name="Middle L J0" unit="radian" value="0"/>
+	        <Node name="Middle L J1" unit="radian" value="0"/>
+	        <Node name="Ring L J0" unit="radian" value="0"/>
+	        <Node name="Ring L J1" unit="radian" value="0"/>
+	        <Node name="Pinky L J0" unit="radian" value="0"/>
+	        <Node name="Pinky L J1" unit="radian" value="0"/>
+	    </Preshape>
+            <Preshape name="Close Preshape">
+                <Node name="Thumb L J0" unit="radian" value="1"/>
+                <Node name="Thumb L J1" unit="radian" value="1"/>
+                <Node name="Index L J0" unit="radian" value="1"/>
+                <Node name="Index L J1" unit="radian" value="1"/>
+                <Node name="Middle L J0" unit="radian" value="1"/>
+                <Node name="Middle L J1" unit="radian" value="1"/>
+                <Node name="Ring L J0" unit="radian" value="1"/>
+                <Node name="Ring L J1" unit="radian" value="1"/>
+                <Node name="Pinky L J0" unit="radian" value="1"/>
+                <Node name="Pinky L J1" unit="radian" value="1"/>
+            </Preshape>
+		<Static>
+			<Node name="Hand Palm 1 L"/>
+			<Node name="Hand Palm 2 L"/>
+		</Static>
+		<Actor name="Thumb Left">
+			<Node name="Thumb L J0" considerCollisions="Actors"/>
+			<Node name="Thumb L J1" considerCollisions="All"/>
+		</Actor>
+		<Actor name="Index Left">
+			<Node name="Index L J0" considerCollisions="Actors"/>
+			<Node name="Index L J1" considerCollisions="All"/>
+		</Actor>
+		<Actor name="Middle Left">
+			<Node name="Middle L J0" considerCollisions="Actors"/>
+			<Node name="Middle L J1" considerCollisions="All"/>
+		</Actor>
+		<Actor name="Ring Left">
+			<Node name="Ring L J0" considerCollisions="Actors"/>
+			<Node name="Ring L J1" considerCollisions="All"/>
+		</Actor>
+		<Actor name="Pinky Left">
+			<Node name="Pinky L J0" considerCollisions="Actors"/>
+			<Node name="Pinky L J1" considerCollisions="All"/>
+		</Actor>
+	</Endeffector>
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3b/ArmarIII-LeftHand_minColModel.xml b/data/RobotAPI/robots/Armar3b/ArmarIII-LeftHand_minColModel.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e946ba874996ed9b27c03bb53fb66336302f754e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/ArmarIII-LeftHand_minColModel.xml
@@ -0,0 +1,463 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="ArmarIII LeftHand" RootNode="Hand L Base">
+
+    <RobotNode name="Hand L Base">
+		<Child name="TCP L"/>
+		<Child name="GCP L"/>
+		<Child name="Hand Palm 1 L"/>
+	</RobotNode>
+	
+	<RobotNode name="TCP L">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="130"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+	</RobotNode>
+	
+	<RobotNode name="GCP L">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation X="-40" Y="-20" Z="90"/>
+					<rollpitchyaw roll="0" pitch="-45" yaw="0" units="degree"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+	</RobotNode>
+	
+	<RobotNode name="Hand Palm 1 L">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="36"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/palm1_l.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/palm1_l.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="800" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Hand Palm 2 L"/>
+		<Child name="Thumb L"/>
+	</RobotNode>
+	
+	<RobotNode name="Hand Palm 2 L">
+		<Joint type="revolute">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="-8.7" y="13.5" z="29.25"/>
+				</Transform>
+			</PreJointTransform>
+			<Axis x="0" y="-1" z="0"/>
+			<Limits unit="degree" lo="-90" hi="90"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/palm2_l.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/palm2_l.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="800" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>	
+			
+		<Child name="Pinky L"/>
+		<Child name="Ring L"/>
+		<Child name="Middle L"/>
+		<Child name="Index L"/>
+	</RobotNode>
+	
+	<RobotNode name="Thumb L">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="-48.9" y="0" z="29.25"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+		
+		<Child name="Thumb L J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Thumb L J0">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="0"/>
+				</Transform>
+			</PreJointTransform>
+			<Axis x="0" y="1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/thumb_l1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/thumb_l1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>	
+			
+		<Child name="Thumb L J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Thumb L J1">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<PreJointTransform>
+				<Transform>
+					<Translation x="-40.2" y="0" z="0"/>
+				</Transform>
+			</PreJointTransform>
+			<Axis x="0" y="1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/thumb_l2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/thumb_l2.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+	</RobotNode>
+	
+	<RobotNode name="Pinky L">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="-73" z="40.4"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+		
+		<Child name="Pinky L J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Pinky L J0">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="0"/>
+				</Transform>
+			</PreJointTransform>
+			<Axis x="0" y="-1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/pinky_l1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/pinky_l1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Pinky L J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Pinky L J1">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="40.2"/>
+				</Transform>
+			</PreJointTransform>
+			<Axis x="0" y="-1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/pinky_l2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/pinky_l2.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+	</RobotNode>
+	
+	<RobotNode name="Ring L">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="-51" z="40.4"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+		
+		<Child name="Ring L J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Ring L J0">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="0"/>
+				</Transform>
+			</PreJointTransform>
+			<Axis x="0" y="-1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/ring_l1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/ring_l1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Ring L J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Ring L J1">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="40.2"/>
+				</Transform>
+			</PreJointTransform>
+			<Axis x="0" y="-1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/ring_l2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/ring_l2.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+	</RobotNode>
+	
+	<RobotNode name="Middle L">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="-27" z="40.4"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+		
+		<Child name="Middle L J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Middle L J0">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="0"/>
+				</Transform>
+			</PreJointTransform>
+			<Axis x="0" y="-1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/middle_l1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/middle_l1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Middle L J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Middle L J1">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="40.2"/>
+				</Transform>
+			</PreJointTransform>
+			<Axis x="0" y="-1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/middle_l2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/middle_l2.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+	</RobotNode>
+	
+	<RobotNode name="Index L">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="40.2"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+		
+		<Child name="Index L J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Index L J0">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="0"/>
+				</Transform>
+			</PreJointTransform>
+			<Axis x="0" y="-1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/index_l1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/index_l1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Index L J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Index L J1">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="40.2"/>
+				</Transform>
+			</PreJointTransform>
+			<Axis x="0" y="-1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/index_l2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/index_l2.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+	</RobotNode>
+	
+	<RobotNodeSet name="LeftHandColModel" kinematicRoot="Hand L Base" tcp="TCP L">
+		<Node name="Hand Palm 1 L"/>
+		<Node name="Hand Palm 2 L"/>
+		<Node name="Thumb L J0"/>
+		<Node name="Thumb L J1"/>
+		<Node name="Index L J0"/>
+		<Node name="Index L J1"/>
+		<Node name="Middle L J0"/>
+		<Node name="Middle L J1"/>
+		<Node name="Ring L J0"/>
+		<Node name="Ring L J1"/>
+		<Node name="Pinky L J0"/>
+		<Node name="Pinky L J1"/>
+	</RobotNodeSet>
+
+        <Endeffector name="TCP L" base="Hand L Base" tcp="TCP L" gcp="GCP L">
+	    <Preshape name="Grasp Preshape">
+	        <Node name="Thumb L J0" unit="radian" value="0"/>
+	        <Node name="Thumb L J1" unit="radian" value="0"/>
+	        <Node name="Index L J0" unit="radian" value="0"/>
+	        <Node name="Index L J1" unit="radian" value="0"/>
+	        <Node name="Middle L J0" unit="radian" value="0"/>
+	        <Node name="Middle L J1" unit="radian" value="0"/>
+	        <Node name="Ring L J0" unit="radian" value="0"/>
+	        <Node name="Ring L J1" unit="radian" value="0"/>
+	        <Node name="Pinky L J0" unit="radian" value="0"/>
+	        <Node name="Pinky L J1" unit="radian" value="0"/>
+	    </Preshape>
+		<Static>
+			<Node name="Hand Palm 1 L"/>
+			<Node name="Hand Palm 2 L"/>
+		</Static>
+		<Actor name="Thumb Left">
+			<Node name="Thumb L J0" considerCollisions="Actors"/>
+			<Node name="Thumb L J1" considerCollisions="All"/>
+		</Actor>
+		<Actor name="Index Left">
+			<Node name="Index L J0" considerCollisions="Actors"/>
+			<Node name="Index L J1" considerCollisions="All"/>
+		</Actor>
+		<Actor name="Middle Left">
+			<Node name="Middle L J0" considerCollisions="Actors"/>
+			<Node name="Middle L J1" considerCollisions="All"/>
+		</Actor>
+		<Actor name="Ring Left">
+			<Node name="Ring L J0" considerCollisions="Actors"/>
+			<Node name="Ring L J1" considerCollisions="All"/>
+		</Actor>
+		<Actor name="Pinky Left">
+			<Node name="Pinky L J0" considerCollisions="Actors"/>
+			<Node name="Pinky L J1" considerCollisions="All"/>
+		</Actor>
+	</Endeffector>
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3b/ArmarIII-Platform.xml b/data/RobotAPI/robots/Armar3b/ArmarIII-Platform.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a41d1fc7e21321b3aa9ba9be339307d687061521
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/ArmarIII-Platform.xml
@@ -0,0 +1,230 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="Armar3" StandardName="Armar3" RootNode="Armar3_Base">
+	
+	<RobotNode name="Armar3_Base">
+		<Visualization enable="true">
+			<CoordinateAxis  type="Inventor" enable="false" scaling="20"/>
+		</Visualization>
+		<Child name="Dummy_Platform"/>
+	</RobotNode>
+	
+	<RobotNode name="Dummy_Platform">
+				<Transform>
+					<DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
+				</Transform>
+		<!--Joint type="fixed">
+			<DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
+		</Joint-->
+		<Child name="X_Platform"/>
+	</RobotNode>
+	
+	<RobotNode name="X_Platform">
+				<Transform>
+					<DH a="0" d="0" theta="90" alpha="0" units="degree"/>
+				</Transform>
+		<Joint type="prismatic">
+			<!--DH a="0" d="0" theta="90" alpha="-90" units="degree"/-->
+			<TranslationDirection x="0" y="0" z="1"/>
+			<Limits unit="mm" lo="-10000" hi="10000"/>
+			<!--
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="100"/>
+				</Transform>
+			</PreJointTransform>
+			-->
+			<!--
+			<Axis x="1" y="0" z="0"/>-->   <!-- definition of movement axis if DH not defined ?-->
+			<!--
+			<PostJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="0"/>
+				</Transform>
+			</PostJointTransform>
+			-->
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		<Child name="Y_Platform"/>
+	</RobotNode>
+	
+	<RobotNode name="Y_Platform">
+				<Transform>
+					<DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+					<DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
+        </Transform>
+		<Joint type="prismatic">
+			<!--DH a="0" d="0" theta="-90" alpha="90" units="degree"/-->
+			<TranslationDirection x="0" y="0" z="1"/>
+			<Limits unit="mm" lo="-10000" hi="10000"/>
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		<Child name="Yaw_Platform"/>
+	</RobotNode>
+	
+	<RobotNode name="Yaw_Platform">
+				<Transform>
+					<DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+					<DH a="0" d="0" theta="0" alpha="90" units="degree"/>
+        </Transform>
+		<Joint type="revolute">
+			<axis x="0" y="0" z="1"/>
+			<!--DH a="0" d="0" theta="-90" alpha="0" units="degree"/-->
+			<Limits unit="degree" lo="-360" hi="360"/>
+                        <MaxVelocity unit="radian" value="1"/>
+                        <MaxAcceleration value="10"/>
+                        <MaxTorque value="3000"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/platform.iv</File>
+		</Visualization>
+		<CollisionModel>
+			<File type="Inventor">collisionModel/platform.iv</File>
+		</CollisionModel>
+		
+		<Child name="Hip Pitch"/>
+	</RobotNode>
+	
+
+	<RobotNode name="Hip Pitch">
+				<Transform>
+					<Translation x="0" y="158" z="890"/>  <!-- x,y,z of THIS COS, NOT any other COS-->
+				</Transform>
+		<Joint type="revolute">
+			<Axis x="1" y="0" z="0"/>
+			<Limits unit="degree" lo="-45" hi="45"/>
+                        <MaxVelocity unit="radian" value="1"/>
+                        <MaxAcceleration value="10"/>
+                        <MaxTorque value="3000"/>
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/platform_pitch_link.iv</File>
+		</Visualization>
+		<Child name="Hip Roll"/>
+	</RobotNode>
+	
+	<RobotNode name="Hip Roll">
+		<Joint type="revolute">
+			<Axis x="0" y="1" z="0"/>
+			<Limits unit="degree" lo="-45" hi="45"/>
+                        <MaxVelocity unit="radian" value="1"/>
+                        <MaxAcceleration value="10"/>
+                        <MaxTorque value="3000"/>
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/platform_roll_link.iv</File>
+		</Visualization>
+		<Child name="Hip Yaw"/>
+	</RobotNode>
+	
+	<RobotNode name="Hip Yaw">
+		<Joint type="revolute">
+			<Axis x="0" y="0" z="1"/>
+			<Limits unit="degree" lo="-45" hi="45"/>
+                        <MaxVelocity unit="radian" value="1"/>
+                        <MaxAcceleration value="10"/>
+                        <MaxTorque value="3000"/>
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/torso.iv</File>
+		</Visualization>
+		<CollisionModel>
+			<File type="Inventor">collisionModel/torso.iv</File>
+		</CollisionModel>
+		<Child name="Center of Arms"/>
+	</RobotNode>
+	
+	<RobotNode name="Center of Arms">
+				<Transform>
+					<Translation x="0" y="-35" z="485"/>
+				</Transform>
+
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		
+		<Child name="TrafoToHead"/>
+		<Child name="TrafoToLeftArm"/>
+		<Child name="TrafoToRightArm"/>
+	</RobotNode>
+	
+	<RobotNode name="TrafoToHead">
+		<Transform>
+					<Translation x="0" y="0" z="118"/>
+	  </Transform>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		
+		<ChildFromRobot>
+			<File importEEF="true">ArmarIII-Head.xml</File>
+		</ChildFromRobot>
+	</RobotNode>
+	
+	<RobotNode name="TrafoToLeftArm">
+		<Transform>
+					<Translation x="-232" y="0" z="0"/>
+				</Transform>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		
+		<ChildFromRobot>
+			<File importEEF="true">ArmarIII-LeftArm.xml</File>
+		</ChildFromRobot>
+	</RobotNode>
+	
+	<RobotNode name="TrafoToRightArm">
+				<Transform>
+					<Translation x="232" y="0" z="0"/>
+				</Transform>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		
+		<ChildFromRobot>
+			<File importEEF="true">ArmarIII-RightArm.xml</File>
+		</ChildFromRobot>
+	</RobotNode>
+	
+	<RobotNodeSet name="Platform">
+		<Node name="X_Platform"/>
+		<Node name="Y_Platform"/>
+		<Node name="Yaw_Platform"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="PlatformColModel">
+		<Node name="Yaw_Platform"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="TorsoColModel">
+		<Node name="Hip Yaw"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="Hip">
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+	</RobotNodeSet>
+	
+        <RobotNodeSet name="PlatformTorsoColModel">
+		<Node name="Yaw_Platform"/>
+                <Node name="Hip Yaw"/>
+        </RobotNodeSet>
+
+	<RobotNodeSet name="PlatformTorsoHeadColModel">
+		<Node name="Yaw_Platform"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Head_Tilt"/>
+	</RobotNodeSet>
+	
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3b/ArmarIII-RightArm.xml b/data/RobotAPI/robots/Armar3b/ArmarIII-RightArm.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2aa2c287cdb342ffaf144ca49d0f8a17edcbbe1e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/ArmarIII-RightArm.xml
@@ -0,0 +1,257 @@
+<?xml version="1.0" encoding="UTF-8" ?>	
+
+<Robot Type="ArmarIII RightArm" RootNode="Right Arm Base">	
+
+    <RobotNode name="Right Arm Base">
+		<Transform>
+			<DH a="0" d="0" theta="-90" alpha="90" units="degree"/>
+		</Transform>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		<Child name="Shoulder 1 R"/>
+	</RobotNode>
+	
+	<RobotNode name="Shoulder 1 R">
+		<Transform>
+			<DH a="0" d="0" theta="90" alpha="0" units="degree"/>
+		</Transform>
+		<Joint type="revolute">
+			<!--DH a="0" d="0" theta="90" alpha="90" units="degree"/-->
+			<Limits unit="degree" lo="-107" hi="42"/>
+                        <MaxVelocity unit="radian" value="0.5"/>
+                        <MaxAcceleration value="10"/>
+                        <MaxTorque value="3000"/>
+                </Joint>
+		<Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="3.65" units="kg" />
+        </Physics>
+		<Visualization enable="true">
+                        <CoordinateAxis type="Inventor" enable="false" scaling="4"/>
+			<File type="Inventor">fullmodel/shoulder_r.iv</File>
+		</Visualization>
+		<CollisionModel>
+			<File type="Inventor">convexModel/shoulder_r.iv</File>
+		</CollisionModel>
+		<Child name="Shoulder 2 R"/>
+	</RobotNode>
+	
+	<RobotNode name="Shoulder 2 R">
+		<Transform>
+			<DH a="0" d="0" theta="0" alpha="90" units="degree"/>
+			<DH a="0" d="0" theta="105" alpha="0" units="degree"/>
+		</Transform>
+		<Joint type="revolute">
+			<!--DH a="0" d="0" theta="105" alpha="90" units="degree"/-->
+			<Limits unit="degree" lo="-14" hi="95"/> 
+                        <MaxVelocity unit="radian" value="0.5"/>
+                        <MaxAcceleration value="10"/>
+                        <MaxTorque value="3000"/>
+                </Joint>
+        <Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="2.5" units="kg" />
+        </Physics>
+        <Visualization enable="true">
+			<File type="Inventor">fullmodel/shoulder2_r_rot.iv</File>
+		</Visualization>
+		<CollisionModel>
+			<File type="Inventor">convexModel/shoulder2_r_rot.iv</File>
+		</CollisionModel>
+		<Child name="Upperarm R"/>
+	</RobotNode>
+	
+	<RobotNode name="Upperarm R">
+		<Transform>
+			<DH a="0" d="0" theta="0" alpha="90" units="degree"/>
+			<DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+		</Transform>
+		<Joint type="revolute">
+			<!--DH a="20" d="-310" theta="-90" alpha="90" units="degree"/-->
+			<Limits unit="degree" lo="-109" hi="70"/>
+                        <MaxVelocity unit="radian" value="0.5"/>
+                        <MaxAcceleration value="10"/>
+                        <MaxTorque value="3000"/>
+                </Joint>
+		<Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="1.55685000" units="kg" />
+            <IgnoreCollision name="Shoulder 1 R"/>
+        </Physics>
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/upperarm_r.iv</File>
+		</Visualization>
+		<CollisionModel>
+			<File type="Inventor">convexModel/upperarm_r.iv</File>
+		</CollisionModel>
+		<Child name="Elbow R"/>
+	</RobotNode>
+	
+	<RobotNode name="Elbow R">
+		<Transform>
+			<DH a="20" d="-310" theta="0" alpha="90" units="degree"/>
+			<DH a="0" d="0" theta="90" alpha="0" units="degree"/>
+		</Transform>
+		<Joint type="revolute">
+			<!--DH a="0" d="7.5" theta="90" alpha="-90" units="degree"/-->
+			<Limits unit="degree" lo="-90" hi="30"/> 
+                        <MaxVelocity unit="radian" value="1"/>
+                        <MaxAcceleration value="10"/>
+                        <MaxTorque value="3000"/>
+                </Joint>
+		<Visualization enable="true">
+                        <CoordinateAxis type="Inventor" enable="false" scaling="4"/>
+			<File type="Inventor">fullmodel/elbow_r.iv</File>
+		</Visualization>
+		<CollisionModel>
+			<File type="Inventor">convexModel/elbow_r.iv</File>
+		</CollisionModel>
+		<Physics>
+            <CoM location="Joint"/>
+            <Mass value="1.15744000" units="kg" />
+        </Physics>
+		<Child name="Underarm R"/>
+	</RobotNode>
+	
+	<RobotNode name="Underarm R">
+		<Transform>
+			<DH a="0" d="7.5" theta="0" alpha="-90" units="degree"/>
+			<DH a="0" d="0" theta="90" alpha="0" units="degree"/>
+		</Transform>
+		<Joint type="revolute">
+			<!--DH a="0" d="-240" theta="90" alpha="-90" units="degree"/-->
+			
+            <Limits unit="degree" lo="-90" hi="200"/>
+                        <MaxVelocity unit="radian" value="0.5"/>
+                        <MaxAcceleration value="10"/>
+                        <MaxTorque value="3000"/>
+                </Joint>
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/underarm_r.iv</File>
+		</Visualization>
+ 		<CollisionModel>
+			<File type="Inventor">convexModel/underarm_r.iv</File>
+		</CollisionModel>
+		<Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="2.26566087" units="kg" />
+        </Physics>
+		<Child name="Wrist 1 R"/>
+	</RobotNode>
+	
+	<RobotNode name="Wrist 1 R">
+		<Transform>
+			<DH a="0" d="-240" theta="0" alpha="-90" units="degree"/>
+			<DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+		</Transform>
+		<Joint type="revolute">
+			<!--DH a="0" d="0" theta="-90" alpha="-90" units="degree"/-->
+            <Limits unit="degree" lo="-22.3" hi="22.8"/>
+                        <MaxVelocity unit="radian" value="0.5"/>
+                        <MaxAcceleration value="10"/>
+                        <MaxTorque value="3000"/>
+                </Joint>
+		<Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="1.29945309" units="kg" /><!--1.13047000-->
+        </Physics>
+   	    <Visualization enable="true">
+                        <CoordinateAxis type="Inventor" enable="false" scaling="2"/>
+			<File type="Inventor">fullmodel/wrist1_r.iv</File>
+		</Visualization>
+		<CollisionModel>
+			<File type="Inventor">convexModel/wrist1_r.iv</File>
+		</CollisionModel>
+		<Child name="Wrist 2 R"/>
+	</RobotNode>
+	
+	<RobotNode name="Wrist 2 R">
+		<Transform>
+			<DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
+			<DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+		</Transform>
+		<Joint type="revolute">
+			<!--DH a="0" d="0" theta="-90" alpha="90" units="degree"/-->
+                        <Limits unit="degree" lo="-31" hi="37"/>
+                        <MaxVelocity unit="radian" value="0.5"/>
+                        <MaxAcceleration value="10"/>
+                        <MaxTorque value="3000"/>
+                </Joint>
+
+    	<Visualization enable="true">
+                        <CoordinateAxis type="Inventor" enable="false" scaling="2"/>
+			<File type="Inventor">fullmodel/wrist2_r.iv</File>
+		</Visualization>
+		<!-- bullet doesn't like two models connected with a fixed joint -> disable this collisison model and just use the hand palm model-->
+        <!--CollisionModel>
+			<File type="Inventor">convexModel/wrist2_r.iv</File>
+		</CollisionModel>
+		
+		<Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="2.59945309" units="kg" />
+            <IgnoreCollision name="Underarm R"/>
+        </Physics-->
+        <Sensor type="forcetorque" name="FT R">
+			<!--Transform>
+				<Translation x="0" y="-40" z="0"/>
+			</Transform-->
+		</Sensor>
+		<Child name="EndArmR"/>
+    </RobotNode>
+	
+    <!--RobotNode name="FTSensorR">
+        <Transform>
+            <Translation x="0" y="-40" z="0"/>
+        </Transform>
+        <Sensor type="forcetorque"/>
+        <Child name="EndArmR"/>
+    </RobotNode-->
+	
+	<RobotNode name="EndArmR">
+		<Transform>
+			<Translation x="0" y="-40" z="0"/>
+			<DH a="0" d="0" theta="0" alpha="90" units="degree"/>
+		</Transform>
+	    <ChildFromRobot>
+			<File importEEF="true">ArmarIII-RightHand.xml</File>
+		</ChildFromRobot>
+	</RobotNode>
+	
+	<RobotNodeSet name="RightArm" kinematicRoot="Right Arm Base" tcp="TCP R">
+		<Node name="Shoulder 1 R"/>
+		<Node name="Shoulder 2 R"/>
+		<Node name="Upperarm R"/>
+		<Node name="Elbow R"/>
+		<Node name="Underarm R"/>
+		<Node name="Wrist 1 R"/>
+		<Node name="Wrist 2 R"/>
+	</RobotNodeSet>
+	
+	
+	
+	<RobotNodeSet name="RightArmColModel" kinematicRoot="Right Arm Base" tcp="TCP R">
+		<Node name="Upperarm R"/>
+		<Node name="Underarm R"/>
+		<Node name="Wrist 2 R"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="RightArmHandColModel" kinematicRoot="Right Arm Base" tcp="TCP R">
+		<Node name="Upperarm R"/>
+		<Node name="Underarm R"/>
+		<Node name="Hand Palm 1 R"/>
+		<Node name="Hand Palm 2 R"/>
+		<Node name="Thumb R J0"/>
+		<Node name="Thumb R J1"/>
+		<Node name="Index R J0"/>
+		<Node name="Index R J1"/>
+		<Node name="Middle R J0"/>
+		<Node name="Middle R J1"/>
+		<Node name="Ring R J0"/>
+		<Node name="Ring R J1"/>
+		<Node name="Pinky R J0"/>
+		<Node name="Pinky R J1"/>
+	</RobotNodeSet>
+	
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3b/ArmarIII-RightArm_minColModel.xml b/data/RobotAPI/robots/Armar3b/ArmarIII-RightArm_minColModel.xml
new file mode 100644
index 0000000000000000000000000000000000000000..15f1001797cef37d3a5ded1ccebfb166e1741ed1
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/ArmarIII-RightArm_minColModel.xml
@@ -0,0 +1,174 @@
+<?xml version="1.0" encoding="UTF-8" ?>	
+
+<Robot Type="ArmarIII RightArm" RootNode="Right Arm Base">	
+
+<RobotNode name="Right Arm Base">
+		<Joint type="fixed">
+			<DH a="0" d="0" theta="-90" alpha="90" units="degree"/>
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		<Child name="Shoulder 1 R"/>
+	</RobotNode>
+	
+	<RobotNode name="Shoulder 1 R">
+		<Joint type="revolute">
+			<DH a="0" d="0" theta="90" alpha="90" units="degree"/>
+			<Limits unit="degree" lo="-106.94" hi="41.67"/>
+		</Joint>
+		<Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="3.65" units="kg" />
+        </Physics>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/shoulder_r.iv</File>
+		</Visualization>
+		<CollisionModel>
+			<File type="Inventor">collisionModel/shoulder_r.iv</File>
+		</CollisionModel>
+		<Child name="Shoulder 2 R"/>
+	</RobotNode>
+	
+	<RobotNode name="Shoulder 2 R">
+		<Joint type="revolute">
+			<DH a="0" d="0" theta="105" alpha="90" units="degree"/>
+			<Limits unit="degree" lo="-13.85" hi="94.62"/>  <!-- ?! -->
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/shoulder2_r_rot.iv</File>
+		</Visualization>
+		<Child name="Upperarm R"/>
+	</RobotNode>
+	
+	<RobotNode name="Upperarm R">
+		<Joint type="revolute">
+			<DH a="20" d="-310" theta="-90" alpha="90" units="degree"/>
+			<Limits unit="degree" lo="-108.11" hi="73.94"/>
+		</Joint>
+		<Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="1.55685000" units="kg" />
+        </Physics>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/upperarm_r.iv</File>
+		</Visualization>
+		<CollisionModel>
+			<File type="Inventor">collisionModel/upperarm_r.iv</File>
+		</CollisionModel>
+		<Child name="Elbow R"/>
+	</RobotNode>
+	
+	<RobotNode name="Elbow R">
+		<Joint type="revolute">
+			<DH a="0" d="7.5" theta="90" alpha="-90" units="degree"/>
+			<Limits unit="degree" lo="-114.58" hi="39.7"/> <!-- ?! -->
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/elbow_r.iv</File>
+		</Visualization>
+		<!--Physics>
+            <CoM location="Joint"/>
+            <Mass value="1.15744000" units="kg" />
+        </Physics-->
+		<Child name="Underarm R"/>
+	</RobotNode>
+	
+	<RobotNode name="Underarm R">
+		<Joint type="revolute">
+			<DH a="0" d="-240" theta="90" alpha="-90" units="degree"/>
+			<Limits unit="degree" lo="-69.65" hi="108.25"/>
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/underarm_r.iv</File>
+		</Visualization>
+		<Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="2.26566087" units="kg" />
+        </Physics>
+ 		<CollisionModel>
+			<File type="Inventor">collisionModel/underarm_r.iv</File>
+		</CollisionModel>
+		<Child name="Wrist 1 R"/>
+	</RobotNode>
+	
+	<RobotNode name="Wrist 1 R">
+		<Joint type="revolute">
+			<DH a="0" d="0" theta="-90" alpha="-90" units="degree"/>
+			<Limits unit="degree" lo="-29.18" hi="29.88"/>
+		</Joint>
+
+   	    <Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/wrist1_r.iv</File>
+		</Visualization>
+		<!--CollisionModel>
+			<File type="Inventor">collisionModel/wrist1_l.iv</File>
+		</CollisionModel-->
+		<Child name="Wrist 2 R"/>
+	</RobotNode>
+	
+	<RobotNode name="Wrist 2 R">
+		<Joint type="revolute">
+			<DH a="0" d="0" theta="-90" alpha="90" units="degree"/>
+			<Limits unit="degree" lo="-30.9" hi="50.87"/>
+		</Joint>
+		<!--Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="1.13047000" units="kg" />
+        </Physics-->
+    	<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/wrist2_r.iv</File>
+		</Visualization>
+        <!--CollisionModel>
+			<File type="Inventor">collisionModel/wrist2_l.iv</File>
+		</CollisionModel-->
+		<Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="2.59945309" units="kg" />
+        </Physics>
+		<ChildFromRobot>
+			<File importEEF="true">ArmarIII-RightHand_minColModel.xml</File>
+		</ChildFromRobot>
+	</RobotNode>
+	
+	<RobotNodeSet name="RightArm" kinematicRoot="Right Arm Base" tcp="TCP R">
+		<Node name="Shoulder 1 R"/>
+		<Node name="Shoulder 2 R"/>
+		<Node name="Upperarm R"/>
+		<Node name="Elbow R"/>
+		<Node name="Underarm R"/>
+		<Node name="Wrist 1 R"/>
+		<Node name="Wrist 2 R"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="RightArmColModel" kinematicRoot="Right Arm Base" tcp="TCP R">
+		<Node name="Upperarm R"/>
+		<Node name="Underarm R"/>
+		<Node name="Wrist 2 R"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="RightArmHandColModel" kinematicRoot="Right Arm Base" tcp="TCP R">
+		<Node name="Upperarm R"/>
+		<Node name="Underarm R"/>
+		<Node name="Hand Palm 1 R"/>
+		<Node name="Hand Palm 2 R"/>
+		<Node name="Thumb R J0"/>
+		<Node name="Thumb R J1"/>
+		<Node name="Index R J0"/>
+		<Node name="Index R J1"/>
+		<Node name="Middle R J0"/>
+		<Node name="Middle R J1"/>
+		<Node name="Ring R J0"/>
+		<Node name="Ring R J1"/>
+		<Node name="Pinky R J0"/>
+		<Node name="Pinky R J1"/>
+	</RobotNodeSet>
+	
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3b/ArmarIII-RightHand.xml b/data/RobotAPI/robots/Armar3b/ArmarIII-RightHand.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bbc8a0afaebbf2441c73b9e532776c8c6ac6ca68
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/ArmarIII-RightHand.xml
@@ -0,0 +1,508 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="ArmarIII RightHand" RootNode="Hand R Base">
+
+    <RobotNode name="Hand R Base">
+		<Child name="TCP R"/>
+		<Child name="GCP R"/>
+		<Child name="Marker R"/>
+		<Child name="right_hand_configuration_actual_float"/>
+		<Child name="Hand Palm 1 R"/>
+	</RobotNode>
+	
+	<RobotNode name="TCP R">
+		<Transform>
+			<Translation x="0" y="0" z="130"/>
+		</Transform>
+                <Visualization enable="false">
+                        <CoordinateAxis type="Inventor" enable="true" scaling="1"/>
+                </Visualization>
+	</RobotNode>
+	
+	<RobotNode name="GCP R">
+		<Transform>
+			<Translation X="-40" Y="20" Z="90"/>
+			<rollpitchyaw roll="0" pitch="-45" yaw="0" units="degree"/>
+		</Transform>
+	</RobotNode>
+	
+	<RobotNode name="Marker R">
+		<Transform>
+			<Translation x="-35" y="-45" z="65"/>
+		</Transform>
+		<Visualization enable="false">
+			<CoordinateAxis type="Inventor" enable="true" scaling="1"/>
+		</Visualization>
+	</RobotNode>
+	
+	<RobotNode name="right_hand_configuration_actual_float">
+                <!--Joint type="revolute">
+			<Axis x="0" y="0" z="1"/>
+			<Limits unit="degree" lo="-20" hi="20"/>
+                </Joint-->
+	</RobotNode>
+	
+	<RobotNode name="Hand Palm 1 R">
+
+		<Transform>
+			<Translation x="0" y="0" z="36"/>
+		</Transform>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/palm1_r.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/palm1_r.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="800" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>	
+			
+		<Child name="Hand Palm 2 R"/>
+		<Child name="Thumb R"/>
+	</RobotNode>
+	
+	<RobotNode name="Hand Palm 2 R">
+		<Transform>
+			<Translation x="-8.7" y="-13.5" z="29.25"/>
+		</Transform>
+		<Joint type="revolute">
+                    <Axis x="0" y="-1" z="0"/>
+                    <Limits unit="degree" lo="-90" hi="90"/>
+                    <MaxVelocity unit="radian" value="1"/>
+                    <MaxAcceleration value="10"/>
+                    <MaxTorque value="10"/>
+                </Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/palm2_r.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/palm2_r.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="800" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>		
+		
+		<Child name="Pinky R"/>
+		<Child name="Ring R"/>
+		<Child name="Middle R"/>
+		<Child name="Index R"/>
+	</RobotNode>
+	
+	<RobotNode name="Thumb R">
+		<Transform>
+			<Translation x="-48.9" y="0" z="29.25"/>
+		</Transform>
+		<Child name="Thumb R J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Thumb R J0">
+		<Joint type="revolute">
+                    <Limits unit="degree" lo="0" hi="90"/>
+                    <Axis x="0" y="1" z="0"/>
+                    <MaxVelocity unit="radian" value="1"/>
+                    <MaxAcceleration value="10"/>
+                    <MaxTorque value="10"/>
+                </Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/thumb_r1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/thumb_r1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Thumb R J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Thumb R J1">
+        <Transform>
+			<Translation x="-40.2" y="0" z="0"/>
+		</Transform>
+		<Joint type="revolute">
+                    <Limits unit="degree" lo="0" hi="90"/>
+                    <Axis x="0" y="1" z="0"/>
+                    <MaxVelocity unit="radian" value="1"/>
+                    <MaxAcceleration value="10"/>
+                    <MaxTorque value="10"/>
+                </Joint>
+
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/thumb_r2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/thumb_r2.iv</File>
+		</CollisionModel>
+		
+	    	<Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		<Child name="Thumb R Fingertip"/>
+	</RobotNode>
+
+	<RobotNode name="Thumb R Fingertip">
+		<Transform>
+			<Translation x="-50" y="0" z="0"/>
+		</Transform>
+                <Visualization enable="false">
+			<CoordinateAxis type="Inventor" enable="true" scaling="1"/>
+		</Visualization>
+	</RobotNode>
+	
+	<RobotNode name="Pinky R">
+		<Transform>
+			<Translation x="0" y="73" z="40.4"/>
+		</Transform>
+		
+		<Child name="Pinky R J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Pinky R J0">
+		<Joint type="revolute">
+                    <Limits unit="degree" lo="0" hi="90"/>
+                    <Axis x="0" y="-1" z="0"/>
+                    <MaxVelocity unit="radian" value="1"/>
+                    <MaxAcceleration value="10"/>
+                    <MaxTorque value="10"/>
+                </Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/pinky_r1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/pinky_r1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Pinky R J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Pinky R J1">
+		<Transform>
+			<Translation x="0" y="0" z="40.2"/>
+		</Transform>
+		<Joint type="revolute">
+                    <Limits unit="degree" lo="0" hi="90"/>
+                    <Axis x="0" y="-1" z="0"/>
+                    <MaxVelocity unit="radian" value="1"/>
+                    <MaxAcceleration value="10"/>
+                    <MaxTorque value="10"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/pinky_r2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/pinky_r2.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+	</RobotNode>
+	
+	<RobotNode name="Ring R">
+
+		<Transform>
+			<Translation x="0" y="51" z="40.4"/>
+		</Transform>
+		
+		<Child name="Ring R J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Ring R J0">
+		<Joint type="revolute">
+                    <Limits unit="degree" lo="0" hi="90"/>
+                    <Axis x="0" y="-1" z="0"/>
+                    <MaxVelocity unit="radian" value="1"/>
+                    <MaxAcceleration value="10"/>
+                    <MaxTorque value="10"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/ring_r1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/ring_r1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Ring R J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Ring R J1">
+    	<Transform>
+    		<Translation x="0" y="0" z="40.2"/>
+    	</Transform>
+		<Joint type="revolute">
+                    <Limits unit="degree" lo="0" hi="90"/>
+                    <Axis x="0" y="-1" z="0"/>
+                    <MaxVelocity unit="radian" value="1"/>
+                    <MaxAcceleration value="10"/>
+                    <MaxTorque value="10"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/ring_r2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/ring_r2.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+	</RobotNode>
+	
+	<RobotNode name="Middle R">
+		<Transform>
+			<Translation x="0" y="27" z="40.4"/>
+		</Transform>
+
+		<Child name="Middle R J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Middle R J0">
+		<Joint type="revolute">
+                    <Limits unit="degree" lo="0" hi="90"/>
+                    <Axis x="0" y="-1" z="0"/>
+                    <MaxVelocity unit="radian" value="1"/>
+                    <MaxAcceleration value="10"/>
+                    <MaxTorque value="10"/>
+                </Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/middle_r1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/middle_r1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Middle R J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Middle R J1">
+		<Transform>
+			<Translation x="0" y="0" z="40.2"/>
+		</Transform>
+		<Joint type="revolute">
+                    <Limits unit="degree" lo="0" hi="90"/>
+                    <Axis x="0" y="-1" z="0"/>
+                    <MaxVelocity unit="radian" value="1"/>
+                    <MaxAcceleration value="10"/>
+                    <MaxTorque value="10"/>
+                </Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/middle_r2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/middle_r2.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		<Child name="Middle R Fingertip"/>
+	</RobotNode>
+	
+	<RobotNode name="Middle R Fingertip">
+		<Transform>
+			<Translation x="-5" y="0" z="40.2"/>
+		</Transform>
+                <Visualization enable="false">
+			<CoordinateAxis type="Inventor" enable="true" scaling="1"/>
+		</Visualization>
+	</RobotNode>
+	
+	<RobotNode name="Index R">
+		<Transform>
+			<Translation x="0" y="0" z="40.2"/>
+		</Transform>
+		
+		<Child name="Index R J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Index R J0">
+		<Joint type="revolute">
+                    <Limits unit="degree" lo="0" hi="90"/>
+                    <Axis x="0" y="-1" z="0"/>
+                    <MaxVelocity unit="radian" value="1"/>
+                    <MaxAcceleration value="10"/>
+                    <MaxTorque value="10"/>
+                </Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/index_r1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/index_r1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Index R J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Index R J1">
+		<Transform>
+			<Translation x="0" y="0" z="40.2"/>
+		</Transform>
+		<Joint type="revolute">
+                    <Limits unit="degree" lo="0" hi="90"/>
+                    <Axis x="0" y="-1" z="0"/>
+                    <MaxVelocity unit="radian" value="1"/>
+                    <MaxAcceleration value="10"/>
+                    <MaxTorque value="10"/>
+                </Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/index_r2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">convexModel/index_r2.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Index R Fingertip"/>
+	</RobotNode>
+	
+	<RobotNode name="Index R Fingertip">
+		<Transform>
+			<Translation x="-5" y="0" z="40.2"/>
+		</Transform>
+                <Visualization enable="false">
+			<CoordinateAxis type="Inventor" enable="true" scaling="1"/>
+		</Visualization>
+	</RobotNode>
+	
+	<RobotNodeSet name="RightHandColModel" kinematicRoot="Hand R Base" tcp="TCP R">
+		<Node name="Hand Palm 1 R"/>
+		<Node name="Hand Palm 2 R"/>
+		<Node name="Thumb R J0"/>
+		<Node name="Thumb R J1"/>
+		<Node name="Index R J0"/>
+		<Node name="Index R J1"/>
+		<Node name="Middle R J0"/>
+		<Node name="Middle R J1"/>
+		<Node name="Ring R J0"/>
+		<Node name="Ring R J1"/>
+		<Node name="Pinky R J0"/>
+		<Node name="Pinky R J1"/>
+	</RobotNodeSet>
+
+	
+	<RobotNodeSet name="RightHandJoints" kinematicRoot="Hand R Base" tcp="TCP R">
+		<Node name="Thumb R J0"/>
+		<Node name="Thumb R J1"/>
+		<Node name="Index R J0"/>
+		<Node name="Index R J1"/>
+		<Node name="Middle R J0"/>
+		<Node name="Middle R J1"/>
+		<Node name="Ring R J0"/>
+		<Node name="Ring R J1"/>
+		<Node name="Pinky R J0"/>
+		<Node name="Pinky R J1"/>
+	</RobotNodeSet>
+
+    <Endeffector name="TCP R" base="Hand R Base" tcp="TCP R" gcp="GCP R">
+	    <Preshape name="Open Preshape">
+	        <Node name="Thumb R J0" unit="radian" value="0"/>
+	        <Node name="Thumb R J1" unit="radian" value="0"/>
+	        <Node name="Index R J0" unit="radian" value="0"/>
+	        <Node name="Index R J1" unit="radian" value="0"/>
+	        <Node name="Middle R J0" unit="radian" value="0"/>
+	        <Node name="Middle R J1" unit="radian" value="0"/>
+	        <Node name="Ring R J0" unit="radian" value="0"/>
+	        <Node name="Ring R J1" unit="radian" value="0"/>
+	        <Node name="Pinky R J0" unit="radian" value="0"/>
+	        <Node name="Pinky R J1" unit="radian" value="0"/>
+	        <Node name="Hand Palm 2 R" unit="radian" value="0"/>
+	    </Preshape>
+		<Preshape name="Close Preshape">
+			<Node name="Thumb R J0" unit="radian" value="1"/>
+			<Node name="Thumb R J1" unit="radian" value="1"/>
+			<Node name="Index R J0" unit="radian" value="1"/>
+			<Node name="Index R J1" unit="radian" value="1"/>
+			<Node name="Middle R J0" unit="radian" value="1"/>
+			<Node name="Middle R J1" unit="radian" value="1"/>
+			<Node name="Ring R J0" unit="radian" value="1"/>
+			<Node name="Ring R J1" unit="radian" value="1"/>
+			<Node name="Pinky R J0" unit="radian" value="1"/>
+			<Node name="Pinky R J1" unit="radian" value="1"/>
+	        <Node name="Hand Palm 2 R" unit="radian" value="0"/>
+		</Preshape>
+
+		<Static>
+			<Node name="Hand Palm 1 R"/>
+			<Node name="Hand Palm 2 R"/>
+		</Static>
+		<Actor name="Thumb Right">
+			<Node name="Thumb R J0" considerCollisions="Actors"/>
+			<Node name="Thumb R J1" considerCollisions="All"/>
+		</Actor>
+		<Actor name="Index Right">
+			<Node name="Index R J0" considerCollisions="Actors"/>
+			<Node name="Index R J1" considerCollisions="All"/>
+		</Actor>
+		<Actor name="Middle Right">
+			<Node name="Middle R J0" considerCollisions="Actors"/>
+			<Node name="Middle R J1" considerCollisions="All"/>
+		</Actor>
+		<Actor name="Ring Right">
+			<Node name="Ring R J0" considerCollisions="Actors"/>
+			<Node name="Ring R J1" considerCollisions="All"/>
+		</Actor>
+		<Actor name="Pinky Right">
+			<Node name="Pinky R J0" considerCollisions="Actors"/>
+			<Node name="Pinky R J1" considerCollisions="All"/>
+		</Actor>
+	</Endeffector>
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3b/ArmarIII-RightHand_minColModel.xml b/data/RobotAPI/robots/Armar3b/ArmarIII-RightHand_minColModel.xml
new file mode 100644
index 0000000000000000000000000000000000000000..06a8d148da39a248a55ff7e2e547ec783021cd30
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/ArmarIII-RightHand_minColModel.xml
@@ -0,0 +1,437 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="ArmarIII RightHand" RootNode="Hand R Base">
+
+
+    <RobotNode name="Hand R Base">
+		<Child name="TCP R"/>
+		<Child name="GCP R"/>
+		<Child name="Hand Palm 1 R"/>
+	</RobotNode>
+	
+	<RobotNode name="TCP R">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="130"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+	</RobotNode>
+	
+	<RobotNode name="GCP R">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation X="-40" Y="20" Z="90"/>
+					<rollpitchyaw roll="0" pitch="-45" yaw="0" units="degree"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+	</RobotNode>
+	
+	<RobotNode name="Hand Palm 1 R">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="36"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/palm1_r.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/palm1_r.iv</File>
+		</CollisionModel>
+	    <Physics>
+			<Mass value="800" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>		
+		<Child name="Hand Palm 2 R"/>
+		<Child name="Thumb R"/>
+	</RobotNode>
+	
+	<RobotNode name="Hand Palm 2 R">
+		<Joint type="revolute">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="-8.7" y="-13.5" z="29.25"/>
+				</Transform>
+			</PreJointTransform>
+			<Axis x="0" y="-1" z="0"/>
+			<Limits unit="degree" lo="-90" hi="90"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/palm2_r.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/palm2_r.iv</File>
+		</CollisionModel>
+	    <Physics>
+			<Mass value="800" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>		
+		<Child name="Pinky R"/>
+		<Child name="Ring R"/>
+		<Child name="Middle R"/>
+		<Child name="Index R"/>
+	</RobotNode>
+	
+	<RobotNode name="Thumb R">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="-48.9" y="0" z="29.25"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+		<Child name="Thumb R J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Thumb R J0">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<Axis x="0" y="1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/thumb_r1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/thumb_r1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Thumb R J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Thumb R J1">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<PreJointTransform>
+				<Transform>
+					<Translation x="-40.2" y="0" z="0"/>
+				</Transform>
+			</PreJointTransform>
+			<Axis x="0" y="1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/thumb_r2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/thumb_r2.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+	</RobotNode>
+	
+	<RobotNode name="Pinky R">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="73" z="40.4"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+		
+		<Child name="Pinky R J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Pinky R J0">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<Axis x="0" y="-1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/pinky_r1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/pinky_r1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Pinky R J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Pinky R J1">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="40.2"/>
+				</Transform>
+			</PreJointTransform>
+			<Axis x="0" y="-1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/pinky_r2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/pinky_r2.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+	</RobotNode>
+	
+	<RobotNode name="Ring R">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="51" z="40.4"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+		
+		<Child name="Ring R J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Ring R J0">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<Axis x="0" y="-1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/ring_r1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/ring_r1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Ring R J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Ring R J1">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="40.2"/>
+				</Transform>
+			</PreJointTransform>
+			<Axis x="0" y="-1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/ring_r2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/ring_r2.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+	</RobotNode>
+	
+	<RobotNode name="Middle R">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="27" z="40.4"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+		
+		<Child name="Middle R J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Middle R J0">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<Axis x="0" y="-1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/middle_r1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/middle_r1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Middle R J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Middle R J1">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="40.2"/>
+				</Transform>
+			</PreJointTransform>
+			<Axis x="0" y="-1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/middle_r2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/middle_r2.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+	</RobotNode>
+	
+	<RobotNode name="Index R">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="40.2"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+		
+		<Child name="Index R J0"/>
+	</RobotNode>
+	
+	<RobotNode name="Index R J0">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<Axis x="0" y="-1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<File type="Inventor">fullmodel/index_r1.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/index_r1.iv</File>
+		</CollisionModel>
+		
+	    <Physics>
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+		
+		<Child name="Index R J1"/>
+	</RobotNode>
+	
+	<RobotNode name="Index R J1">
+		<Joint type="revolute">
+			<Limits unit="degree" lo="0" hi="180"/>
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="40.2"/>
+				</Transform>
+			</PreJointTransform>
+			<Axis x="0" y="-1" z="0"/>
+		</Joint>
+		
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/index_r2.iv</File>
+		</Visualization>
+		
+		<CollisionModel>
+			<File type="Inventor">collisionModel/index_r2.iv</File>
+		</CollisionModel>
+	    <Physics>
+	        
+			<Mass value="500" unit="g"/>
+			<CoM location="VisualizationBBoxCenter"/>
+		</Physics>
+	</RobotNode>
+	
+	<RobotNodeSet name="RightHandColModel" kinematicRoot="Hand R Base" tcp="TCP R">
+		<Node name="Hand Palm 1 R"/>
+		<Node name="Hand Palm 2 R"/>
+		<Node name="Thumb R J0"/>
+		<Node name="Thumb R J1"/>
+		<Node name="Index R J0"/>
+		<Node name="Index R J1"/>
+		<Node name="Middle R J0"/>
+		<Node name="Middle R J1"/>
+		<Node name="Ring R J0"/>
+		<Node name="Ring R J1"/>
+		<Node name="Pinky R J0"/>
+		<Node name="Pinky R J1"/>
+	</RobotNodeSet>
+
+        <Endeffector name="TCP R" base="Hand R Base" tcp="TCP R" gcp="GCP R">
+	    <Preshape name="Grasp Preshape">
+	        <Node name="Thumb R J0" unit="radian" value="0"/>
+	        <Node name="Thumb R J1" unit="radian" value="0"/>
+	        <Node name="Index R J0" unit="radian" value="0"/>
+	        <Node name="Index R J1" unit="radian" value="0"/>
+	        <Node name="Middle R J0" unit="radian" value="0"/>
+	        <Node name="Middle R J1" unit="radian" value="0"/>
+	        <Node name="Ring R J0" unit="radian" value="0"/>
+	        <Node name="Ring R J1" unit="radian" value="0"/>
+	        <Node name="Pinky R J0" unit="radian" value="0"/>
+	        <Node name="Pinky R J1" unit="radian" value="0"/>
+	    </Preshape>
+	    
+	    
+		<Static>
+			<Node name="Hand Palm 1 R"/>
+			<Node name="Hand Palm 2 R"/>
+		</Static>
+		<Actor name="Thumb Right">
+			<Node name="Thumb R J0" considerCollisions="Actors"/>
+			<Node name="Thumb R J1" considerCollisions="All"/>
+		</Actor>
+		<Actor name="Index Right">
+			<Node name="Index R J0" considerCollisions="Actors"/>
+			<Node name="Index R J1" considerCollisions="All"/>
+		</Actor>
+		<Actor name="Middle Right">
+			<Node name="Middle R J0" considerCollisions="Actors"/>
+			<Node name="Middle R J1" considerCollisions="All"/>
+		</Actor>
+		<Actor name="Ring Right">
+			<Node name="Ring R J0" considerCollisions="Actors"/>
+			<Node name="Ring R J1" considerCollisions="All"/>
+		</Actor>
+		<Actor name="Pinky Right">
+			<Node name="Pinky R J0" considerCollisions="Actors"/>
+			<Node name="Pinky R J1" considerCollisions="All"/>
+		</Actor>
+	</Endeffector>
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3b/ArmarIII-WithPlatform.xml b/data/RobotAPI/robots/Armar3b/ArmarIII-WithPlatform.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b8575f65b58bcfb7b56db0b7e42e0f383062b953
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/ArmarIII-WithPlatform.xml
@@ -0,0 +1,353 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="Armar3" RootNode="Armar3_Base">
+	
+	<RobotNode name="Armar3_Base">
+		<Visualization enable="true">
+			<CoordinateAxis  type="Inventor" enable="false" scaling="20"/>
+		</Visualization>
+		<Child name="Dummy_Platform"/>
+		<!--Child name="Platform"/-->
+	</RobotNode>
+	
+	<RobotNode name="Dummy_Platform">
+        <Transform>
+            <DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
+        </Transform>
+		<!--<Joint type="fixed">
+			<DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
+		</Joint>-->
+		<Child name="X_Platform"/>
+	</RobotNode>
+	
+	<RobotNode name="X_Platform">
+        <Transform>
+            <DH a="0" d="0" theta="90" alpha="0" units="degree"/>
+        </Transform>
+		<Joint type="prismatic">
+            <TranslationDirection x="0" y="0" z="1"/>
+            <Limits unit="mm" lo="-10000" hi="10000"/>
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		<Child name="Y_Platform"/>
+	</RobotNode>
+	
+	<RobotNode name="Y_Platform">
+        <Transform>
+            <DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+            <DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
+        </Transform>
+		<Joint type="prismatic">
+            <TranslationDirection x="0" y="0" z="1"/>
+            <Limits unit="mm" lo="-10000" hi="10000"/>
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		<Child name="Yaw_Platform"/>
+	</RobotNode>
+	
+	<RobotNode name="Yaw_Platform">
+        <Transform>
+            <DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+            <DH a="0" d="0" theta="0" alpha="90" units="degree"/>
+        </Transform>
+		<Joint type="revolute">
+			<axis x="0" y="0" z="1"/>
+            <Limits unit="degree" lo="-360" hi="360"/>
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		<Child name="Platform"/>
+	</RobotNode>
+	
+	<RobotNode name="Platform">  <!-- visualization via 3D-model at the very end of the kinematic chain-->
+		<Joint type="fixed"/>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/platform.iv</File>
+		</Visualization>
+		<Physics>
+            <CoM location="Joint" x="0" y="0" z="200"/>
+            <Mass value="100" units="kg" />
+        </Physics>
+		<CollisionModel>
+			<File type="Inventor">convexModel/platform.iv</File>
+		</CollisionModel>
+		<Child name="Hip Pitch"/>
+	</RobotNode>
+
+	<RobotNode name="Hip Pitch">
+            <Transform>
+                <Translation x="0" y="158" z="890"/>
+            </Transform>
+            <Joint type="revolute">
+            <Axis x="1" y="0" z="0"/>
+            <Limits unit="degree" lo="-45" hi="45"/>
+        </Joint>
+
+        <Visualization enable="true">
+            <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+            <File type="Inventor">fullmodel/platform_pitch_link.iv</File>
+        </Visualization>
+        <Physics>
+            <Mass value="10" units="kg" />
+        </Physics>
+        <CollisionModel>
+            <File type="Inventor">convexModel/platform_pitch_link.iv</File>
+        </CollisionModel>
+        <Child name="Hip Roll"/>
+	</RobotNode>
+	
+	<RobotNode name="Hip Roll">
+		<Joint type="revolute">
+			<Axis x="0" y="1" z="0"/>
+			<Limits unit="degree" lo="-45" hi="45"/>
+		</Joint>
+
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/platform_roll_link.iv</File>
+		</Visualization>
+		<Physics>
+            <Mass value="10" units="kg" />
+            <IgnoreCollision name="Platform"/>
+        </Physics>
+		<CollisionModel>
+			<File type="Inventor">convexModel/platform_roll_link.iv</File>
+		</CollisionModel>
+		<Child name="Hip Yaw"/>
+	</RobotNode>
+	
+	<RobotNode name="Hip Yaw">
+		<Joint type="revolute">
+			<Axis x="0" y="0" z="1"/>
+			<Limits unit="degree" lo="-45" hi="45"/>
+		</Joint>
+		<Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="15.415" units="kg" />
+            <IgnoreCollision name="Hip Pitch"/>
+            <IgnoreCollision name="Platform"/>
+        </Physics>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/torso.iv</File>
+		</Visualization>
+		<CollisionModel>
+			<File type="Inventor">convexModel/torso.iv</File>
+		</CollisionModel>
+		<Child name="Center of Arms"/>
+	</RobotNode>
+	
+	<RobotNode name="Center of Arms">
+        <Transform>
+            <Translation x="0" y="-35" z="485"/>
+        </Transform>
+        <Visualization enable="true">
+            <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+        </Visualization>
+        
+        <Child name="TrafoToHead"/>
+        <Child name="TrafoToLeftArm"/>
+        <Child name="TrafoToRightArm"/>
+	</RobotNode>
+	
+	<RobotNode name="TrafoToHead">
+        <Transform>
+            <Translation x="0" y="0" z="118"/>
+        </Transform>
+        <Visualization enable="true">
+            <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+        </Visualization>
+        
+        <ChildFromRobot>
+            <File importEEF="true">ArmarIII-Head.xml</File>
+        </ChildFromRobot>
+	</RobotNode>
+	
+	<RobotNode name="TrafoToLeftArm">
+        <Transform>
+            <Translation x="-232" y="0" z="0"/>
+        </Transform>
+        <Visualization enable="true">
+            <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+        </Visualization>
+        
+        <ChildFromRobot>
+            <File importEEF="true">ArmarIII-LeftArm.xml</File>
+        </ChildFromRobot>
+	</RobotNode>
+	
+	<RobotNode name="TrafoToRightArm">
+        <Transform>
+            <Translation x="232" y="0" z="0"/>
+        </Transform>
+        <Visualization enable="true">
+            <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+        </Visualization>
+        
+        <ChildFromRobot>
+            <File importEEF="true">ArmarIII-RightArm.xml</File>
+        </ChildFromRobot>
+	</RobotNode>
+	
+	<RobotNodeSet name="Torso" kinematicRoot="Platform">
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="TorsoHeadColModel">
+		<Node name="Hip Yaw"/>
+		<Node name="Head_Tilt"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="PlatformTorsoColModel">
+		<Node name="Platform"/>
+		<Node name="Hip Yaw"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="PlatformTorsoHeadColModel">
+		<Node name="Platform"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Head_Tilt"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="TorsoLeftArm" kinematicRoot="Platform" tcp="TCP L">
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 L"/>
+		<Node name="Shoulder 2 L"/>
+		<Node name="Upperarm L"/>
+		<Node name="Elbow L"/>
+		<Node name="Underarm L"/>
+		<Node name="Wrist 1 L"/>
+		<Node name="Wrist 2 L"/>
+	</RobotNodeSet>	
+	
+	<RobotNodeSet name="TorsoRightArm" kinematicRoot="Platform" tcp="TCP R">
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 R"/>
+		<Node name="Shoulder 2 R"/>
+		<Node name="Upperarm R"/>
+		<Node name="Elbow R"/>
+		<Node name="Underarm R"/>
+		<Node name="Wrist 1 R"/>
+		<Node name="Wrist 2 R"/>
+	</RobotNodeSet>
+	
+	
+	<RobotNodeSet name="TorsoBothArms" kinematicRoot="Platform">
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 L"/>
+		<Node name="Shoulder 2 L"/>
+		<Node name="Upperarm L"/>
+		<Node name="Elbow L"/>
+		<Node name="Underarm L"/>
+		<Node name="Wrist 1 L"/>
+		<Node name="Wrist 2 L"/>
+		<Node name="Shoulder 1 R"/>
+		<Node name="Shoulder 2 R"/>
+		<Node name="Upperarm R"/>
+		<Node name="Elbow R"/>
+		<Node name="Underarm R"/>
+		<Node name="Wrist 1 R"/>
+		<Node name="Wrist 2 R"/>
+	</RobotNodeSet>	
+	
+	<RobotNodeSet name="Robot" kinematicRoot="Platform">
+		<Node name="Neck_1_Pitch"/>
+		<Node name="Neck_2_Roll"/>
+		<Node name="Neck_3_Yaw"/>
+		<Node name="Head_Tilt"/>
+		<Node name="Cameras"/>
+		<Node name="Eye_Left"/>
+		<Node name="Eye_Right"/>
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 L"/>
+		<Node name="Shoulder 2 L"/>
+		<Node name="Upperarm L"/>
+		<Node name="Elbow L"/>
+		<Node name="Underarm L"/>
+		<Node name="Wrist 1 L"/>
+		<Node name="Wrist 2 L"/>
+		<Node name="Shoulder 1 R"/>
+		<Node name="Shoulder 2 R"/>
+		<Node name="Upperarm R"/>
+		<Node name="Elbow R"/>
+		<Node name="Underarm R"/>
+		<Node name="Wrist 1 R"/>
+		<Node name="Wrist 2 R"/>
+		<Node name="Hand Palm 1 L"/>
+		<Node name="Hand Palm 2 L"/>
+		<Node name="Thumb L J0"/>
+		<Node name="Thumb L J1"/>
+		<Node name="Index L J0"/>
+		<Node name="Index L J1"/>
+		<Node name="Middle L J0"/>
+		<Node name="Middle L J1"/>
+		<Node name="Ring L J0"/>
+		<Node name="Ring L J1"/>
+		<Node name="Pinky L J0"/>
+		<Node name="Pinky L J1"/>
+		<Node name="Hand Palm 1 R"/>
+		<Node name="Hand Palm 2 R"/>
+		<Node name="Thumb R J0"/>
+		<Node name="Thumb R J1"/>
+		<Node name="Index R J0"/>
+		<Node name="Index R J1"/>
+		<Node name="Middle R J0"/>
+		<Node name="Middle R J1"/>
+		<Node name="Ring R J0"/>
+		<Node name="Ring R J1"/>
+		<Node name="Pinky R J0"/>
+		<Node name="Pinky R J1"/>
+	</RobotNodeSet>	
+
+	<RobotNodeSet name="PlatformYawTorsoLeftArm" kinematicRoot="Armar3_Base" tcp="TCP L">
+	    <Node name="Yaw_Platform"/>
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 L"/>
+		<Node name="Shoulder 2 L"/>
+		<Node name="Upperarm L"/>
+		<Node name="Elbow L"/>
+		<Node name="Underarm L"/>
+		<Node name="Wrist 1 L"/>
+		<Node name="Wrist 2 L"/>
+	</RobotNodeSet>	
+
+	<RobotNodeSet name="PlatformYawTorsoRightArm" kinematicRoot="Armar3_Base" tcp="TCP R">
+		<Node name="Yaw_Platform"/>
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 R"/>
+		<Node name="Shoulder 2 R"/>
+		<Node name="Upperarm R"/>
+		<Node name="Elbow R"/>
+		<Node name="Underarm R"/>
+		<Node name="Wrist 1 R"/>
+		<Node name="Wrist 2 R"/>
+	</RobotNodeSet>
+	
+    <RobotNodeSet name="Platform">
+        <Node name="X_Platform"/>
+        <Node name="Y_Platform"/>
+        <Node name="Yaw_Platform"/>
+    </RobotNodeSet>
+	
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3b/ArmarIII.xml b/data/RobotAPI/robots/Armar3b/ArmarIII.xml
new file mode 100644
index 0000000000000000000000000000000000000000..041a490471e1605a95d739bb98fb90c94b11fea1
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/ArmarIII.xml
@@ -0,0 +1,395 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="Armar3" RootNode="Armar3_Base">
+	
+	<RobotNode name="Armar3_Base">
+		<Visualization enable="true">
+			<CoordinateAxis  type="Inventor" enable="false" scaling="20"/>
+		</Visualization>
+		<Child name="Dummy_Platform"/>
+		<!--Child name="Platform"/-->
+	</RobotNode>
+	
+	<RobotNode name="Dummy_Platform">
+		<Transform>
+			<DH a="0" d="0" theta="0" alpha="-90" unitsangle="degree" unitslength="mm"/>
+		</Transform>
+		<Child name="X_Platform"/>
+	</RobotNode>
+	
+	<RobotNode name="X_Platform">
+		<Transform>
+			<DH a="0" d="0" theta="90" alpha="-90" unitsangle="degree" unitslength="mm"/>
+            <!--Limits unit="mm" lo="-10000" hi="10000"/-->
+		</Transform>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		<Child name="Y_Platform"/>
+	</RobotNode>
+	
+	<RobotNode name="Y_Platform">
+		<Transform>
+			<DH a="0" d="0" theta="-90" alpha="90" unitsangle="degree" unitslength="mm"/>
+            <!--Limits unit="mm" lo="-10000" hi="10000"/-->
+		</Transform>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		<Child name="Yaw_Platform"/>
+	</RobotNode>
+	
+	<RobotNode name="Yaw_Platform">
+	    <Transform>
+			<DH a="0" d="0" theta="-90" alpha="0" unitsangle="degree" unitslength="mm"/>
+            <!--Limits unit="mm" lo="-10000" hi="10000"/-->
+		</Transform>
+		<Joint type="revolute">
+			<axis x="0" y="0" z="1"/>
+			<Limits unit="degree" lo="-360" hi="360"/>
+            <MaxVelocity unit="radian" value="1"/>
+            <MaxAcceleration value="10"/>
+            <MaxTorque value="3000"/>
+        </Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		<Child name="Platform"/>
+	</RobotNode>
+	
+	<RobotNode name="Platform">  <!-- visualization via 3D-model at the very end of the kinematic chain-->
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/platform.iv</File>
+		</Visualization>
+		<Physics>
+            <CoM location="Joint" x="0" y="0" z="200"/>
+            <Mass value="100" units="kg" />
+        </Physics>
+		<CollisionModel>
+			<File type="Inventor">convexModel/platform.iv</File>
+		</CollisionModel>
+		<Child name="Hip Pitch"/>
+	</RobotNode>
+
+	<RobotNode name="Hip Pitch">
+			<Transform>
+				<Translation x="0" y="158" z="890" units='mm'/>
+			</Transform>
+                <Joint type="revolute">
+			<Axis x="1" y="0" z="0"/>
+			<Limits unit="degree" lo="-45" hi="45"/>
+                    <MaxVelocity unit="radian" value="1"/>
+                    <MaxAcceleration value="10"/>
+                    <MaxTorque value="3000"/>
+                </Joint>
+
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/platform_pitch_link.iv</File>
+		</Visualization>
+		<Physics>
+            <Mass value="10" units="kg" />
+        </Physics>
+		<CollisionModel>
+			<File type="Inventor">convexModel/platform_pitch_link.iv</File>
+		</CollisionModel>
+		<Child name="Hip Roll"/>
+	</RobotNode>
+	
+	<RobotNode name="Hip Roll">
+		<Joint type="revolute">
+			<Axis x="0" y="1" z="0"/>
+			<Limits unit="degree" lo="-45" hi="45"/>
+                    <MaxVelocity unit="radian" value="1"/>
+                    <MaxAcceleration value="10"/>
+                    <MaxTorque value="3000"/>
+                </Joint>
+
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/platform_roll_link.iv</File>
+		</Visualization>
+		<Physics>
+            <Mass value="10" units="kg" />
+            <IgnoreCollision name="Platform"/>
+        </Physics>
+		<CollisionModel>
+			<File type="Inventor">convexModel/platform_roll_link.iv</File>
+		</CollisionModel>
+		<Child name="Hip Yaw"/>
+	</RobotNode>
+	
+	<RobotNode name="Hip Yaw">
+		<Joint type="revolute">
+			<Axis x="0" y="0" z="1"/>
+			<Limits unit="degree" lo="-90" hi="90"/>
+                    <MaxVelocity unit="radian" value="1"/>
+                    <MaxAcceleration value="10"/>
+                    <MaxTorque value="3000"/>
+                </Joint>
+		<Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="15.415" units="kg" />
+            <IgnoreCollision name="Hip Pitch"/>
+            <IgnoreCollision name="Platform"/>
+        </Physics>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/torso.iv</File>
+		</Visualization>
+		<CollisionModel>
+			<File type="Inventor">convexModel/torso.iv</File>
+		</CollisionModel>
+		<Child name="Center of Arms"/>
+	</RobotNode>
+	
+	<RobotNode name="Center of Arms">
+		<Transform>
+			<Translation x="0" y="-35" z="485" units='mm'/>
+		</Transform>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		
+		<Child name="TrafoToHead"/>
+		<Child name="TrafoToLeftArm"/>
+		<Child name="TrafoToRightArm"/>
+	</RobotNode>
+	
+	<RobotNode name="TrafoToHead">
+		<Transform>
+			<Translation x="0" y="0" z="118" units='mm'/>
+		</Transform>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		
+		<ChildFromRobot>
+			<File importEEF="true">ArmarIII-Head.xml</File>
+		</ChildFromRobot>
+	</RobotNode>
+	
+	<RobotNode name="TrafoToLeftArm">
+		<Transform>
+			<Translation x="-232" y="0" z="0" units='mm'/>
+		</Transform>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		
+		<ChildFromRobot>
+			<File importEEF="true">ArmarIII-LeftArm.xml</File>
+		</ChildFromRobot>
+	</RobotNode>
+	
+	<RobotNode name="TrafoToRightArm">
+		<Transform>
+			<Translation x="232" y="0" z="0" units='mm'/>
+		</Transform>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		
+		<ChildFromRobot>
+			<File importEEF="true">ArmarIII-RightArm.xml</File>
+		</ChildFromRobot>
+	</RobotNode>
+	
+	<RobotNodeSet name="Torso" kinematicRoot="Platform">
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="TorsoHeadColModel">
+		<Node name="Hip Yaw"/>
+		<Node name="Head_Tilt"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="PlatformTorsoColModel">
+		<Node name="Platform"/>
+		<Node name="Hip Yaw"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="PlatformTorsoHeadColModel">
+		<Node name="Platform"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Head_Tilt"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="TorsoLeftArm" kinematicRoot="Platform" tcp="TCP L">
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 L"/>
+		<Node name="Shoulder 2 L"/>
+		<Node name="Upperarm L"/>
+		<Node name="Elbow L"/>
+		<Node name="Underarm L"/>
+		<Node name="Wrist 1 L"/>
+		<Node name="Wrist 2 L"/>
+	</RobotNodeSet>	
+	
+	<RobotNodeSet name="HipYawLeftArm" kinematicRoot="Platform" tcp="TCP L">
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 L"/>
+		<Node name="Shoulder 2 L"/>
+		<Node name="Upperarm L"/>
+		<Node name="Elbow L"/>
+		<Node name="Underarm L"/>
+		<Node name="Wrist 1 L"/>
+		<Node name="Wrist 2 L"/>
+	</RobotNodeSet>	
+	
+	<RobotNodeSet name="TorsoRightArm" kinematicRoot="Platform" tcp="TCP R">
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 R"/>
+		<Node name="Shoulder 2 R"/>
+		<Node name="Upperarm R"/>
+		<Node name="Elbow R"/>
+		<Node name="Underarm R"/>
+		<Node name="Wrist 1 R"/>
+		<Node name="Wrist 2 R"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="TorsoRightArmIndexFingertip" kinematicRoot="Platform" tcp="Index R Fingertip">
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 R"/>
+		<Node name="Shoulder 2 R"/>
+		<Node name="Upperarm R"/>
+		<Node name="Elbow R"/>
+		<Node name="Underarm R"/>
+		<Node name="Wrist 1 R"/>
+		<Node name="Wrist 2 R"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="HipYawRightArm" kinematicRoot="Platform" tcp="TCP R">
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 R"/>
+		<Node name="Shoulder 2 R"/>
+		<Node name="Upperarm R"/>
+		<Node name="Elbow R"/>
+		<Node name="Underarm R"/>
+		<Node name="Wrist 1 R"/>
+		<Node name="Wrist 2 R"/>
+	</RobotNodeSet>
+	
+	
+    <RobotNodeSet name="TorsoBothArms" kinematicRoot="Platform">
+        <Node name="Hip Pitch"/>
+        <Node name="Hip Roll"/>
+        <Node name="Hip Yaw"/>
+        <Node name="Shoulder 1 L"/>
+        <Node name="Shoulder 2 L"/>
+        <Node name="Upperarm L"/>
+        <Node name="Elbow L"/>
+        <Node name="Underarm L"/>
+        <Node name="Wrist 1 L"/>
+        <Node name="Wrist 2 L"/>
+        <Node name="Shoulder 1 R"/>
+        <Node name="Shoulder 2 R"/>
+        <Node name="Upperarm R"/>
+        <Node name="Elbow R"/>
+        <Node name="Underarm R"/>
+        <Node name="Wrist 1 R"/>
+        <Node name="Wrist 2 R"/>
+    </RobotNodeSet>
+
+    <RobotNodeSet name="Robot" kinematicRoot="Platform">
+		<Node name="Neck_1_Pitch"/>
+		<Node name="Neck_2_Roll"/>
+		<Node name="Neck_3_Yaw"/>
+		<Node name="Head_Tilt"/>
+		<Node name="Cameras"/>
+		<Node name="Eye_Left"/>
+		<Node name="Eye_Right"/>
+		<Node name="VirtualCentralGaze"/>
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 L"/>
+		<Node name="Shoulder 2 L"/>
+		<Node name="Upperarm L"/>
+		<Node name="Elbow L"/>
+		<Node name="Underarm L"/>
+		<Node name="Wrist 1 L"/>
+		<Node name="Wrist 2 L"/>
+		<Node name="Shoulder 1 R"/>
+		<Node name="Shoulder 2 R"/>
+		<Node name="Upperarm R"/>
+		<Node name="Elbow R"/>
+		<Node name="Underarm R"/>
+		<Node name="Wrist 1 R"/>
+		<Node name="Wrist 2 R"/>
+		<Node name="Hand Palm 1 L"/>
+		<Node name="Hand Palm 2 L"/>
+		<Node name="Thumb L J0"/>
+		<Node name="Thumb L J1"/>
+		<Node name="Index L J0"/>
+		<Node name="Index L J1"/>
+		<Node name="Middle L J0"/>
+		<Node name="Middle L J1"/>
+		<Node name="Ring L J0"/>
+		<Node name="Ring L J1"/>
+		<Node name="Pinky L J0"/>
+		<Node name="Pinky L J1"/>
+		<Node name="Hand Palm 1 R"/>
+		<Node name="Hand Palm 2 R"/>
+		<Node name="Thumb R J0"/>
+		<Node name="Thumb R J1"/>
+		<Node name="Index R J0"/>
+		<Node name="Index R J1"/>
+		<Node name="Middle R J0"/>
+		<Node name="Middle R J1"/>
+		<Node name="Ring R J0"/>
+		<Node name="Ring R J1"/>
+		<Node name="Pinky R J0"/>
+		<Node name="Pinky R J1"/>
+	</RobotNodeSet>	
+
+	<RobotNodeSet name="PlatformYawTorsoLeftArm" kinematicRoot="Armar3_Base" tcp="TCP L">
+	    <Node name="Yaw_Platform"/>
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 L"/>
+		<Node name="Shoulder 2 L"/>
+		<Node name="Upperarm L"/>
+		<Node name="Elbow L"/>
+		<Node name="Underarm L"/>
+		<Node name="Wrist 1 L"/>
+		<Node name="Wrist 2 L"/>
+	</RobotNodeSet>	
+
+	<RobotNodeSet name="PlatformYawTorsoRightArm" kinematicRoot="Armar3_Base" tcp="TCP R">
+		<Node name="Yaw_Platform"/>
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 R"/>
+		<Node name="Shoulder 2 R"/>
+		<Node name="Upperarm R"/>
+		<Node name="Elbow R"/>
+		<Node name="Underarm R"/>
+		<Node name="Wrist 1 R"/>
+		<Node name="Wrist 2 R"/>
+	</RobotNodeSet>
+	
+  
+    <RobotNodeSet name="HeadMotionMeasurementChain" kinematicRoot="Neck_1_Pitch" tcp="HeadMotionMeasurementTCP">
+        <Node name="Neck_1_Pitch"/>
+        <Node name="Neck_2_Roll"/>
+        <Node name="Neck_3_Yaw"/>
+        <Node name="Head_Tilt"/>
+        <Node name="Cameras"/>
+        <Node name="Eye_Left"/>
+        <Node name="HeadMotionMeasurementTCP"/>
+    </RobotNodeSet>
+	
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3b/ArmarIII_minColModel.xml b/data/RobotAPI/robots/Armar3b/ArmarIII_minColModel.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e93b374607794e20319c31da9e0c9a33e66ca114
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/ArmarIII_minColModel.xml
@@ -0,0 +1,336 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="Armar3" RootNode="Armar3_Base">
+	
+	<RobotNode name="Armar3_Base">
+		<Visualization enable="true">
+			<CoordinateAxis  type="Inventor" enable="false" scaling="20"/>
+		</Visualization>
+		<Child name="Dummy_Platform"/>
+	</RobotNode>
+	
+	<RobotNode name="Dummy_Platform">
+		<Joint type="fixed">
+			<DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
+		</Joint>
+		<Child name="X_Platform"/>
+	</RobotNode>
+	
+	<RobotNode name="X_Platform">
+		<Joint type="prismatic">
+			<DH a="0" d="0" theta="90" alpha="-90" units="degree"/>
+			<Limits unit="mm" lo="-10000" hi="10000"/>
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		<Child name="Y_Platform"/>
+	</RobotNode>
+	
+	<RobotNode name="Y_Platform">
+		<Joint type="prismatic">
+			<DH a="0" d="0" theta="-90" alpha="90" units="degree"/>
+			<Limits unit="mm" lo="-10000" hi="10000"/>
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		<Child name="Yaw_Platform"/>
+	</RobotNode>
+	
+	<RobotNode name="Yaw_Platform">
+		<Joint type="revolute">
+			<DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+			<Limits unit="degree" lo="-360" hi="360"/>
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		<Child name="Platform"/>
+	</RobotNode>
+	
+	<RobotNode name="Platform">  <!-- visualization via 3D-model at the very end of the kinematic chain-->
+		<Joint type="fixed"/>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/platform.iv</File>
+		</Visualization>
+		<Physics>
+            <CoM location="Joint" x="0" y="0" z="200"/>
+            <Mass value="200" units="kg" />
+        </Physics>
+		<CollisionModel>
+			<File type="Inventor">collisionModel/platform.iv</File>
+		</CollisionModel>
+		<Child name="Hip Pitch"/>
+	</RobotNode>
+
+	<RobotNode name="Hip Pitch">
+		<Joint type="revolute">
+			<Axis x="1" y="0" z="0"/>
+			<Limits unit="degree" lo="-45" hi="45"/>
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="158" z="890"/>  <!-- x,y,z of THIS COS, NOT any other COS-->
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/platform_pitch_link.iv</File>
+		</Visualization>
+		<Child name="Hip Roll"/>
+	</RobotNode>
+	
+	<RobotNode name="Hip Roll">
+		<Joint type="revolute">
+			<Axis x="0" y="1" z="0"/>
+			<Limits unit="degree" lo="-45" hi="45"/>
+		</Joint>
+
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/platform_roll_link.iv</File>
+		</Visualization>
+		<Child name="Hip Yaw"/>
+	</RobotNode>
+	
+	<RobotNode name="Hip Yaw">
+		<Joint type="revolute">
+			<Axis x="0" y="0" z="1"/>
+			<Limits unit="degree" lo="-45" hi="45"/>
+		</Joint>
+		<Physics>
+            <CoM location="VisualizationBBoxCenter"/>
+            <Mass value="15.415" units="kg" />
+        </Physics>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+			<File type="Inventor">fullmodel/torso.iv</File>
+		</Visualization>
+		<CollisionModel>
+			<File type="Inventor">collisionModel/torso.iv</File>
+		</CollisionModel>
+		<Child name="Center of Arms"/>
+	</RobotNode>
+	
+	<RobotNode name="Center of Arms">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="-35" z="485"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		
+		<Child name="TrafoToHead"/>
+		<Child name="TrafoToLeftArm"/>
+		<Child name="TrafoToRightArm"/>
+	</RobotNode>
+	
+	<RobotNode name="TrafoToHead">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="0" y="0" z="118"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		
+		<ChildFromRobot>
+			<File importEEF="true">ArmarIII-Head_minColModel.xml</File>
+		</ChildFromRobot>
+	</RobotNode>
+	
+	<RobotNode name="TrafoToLeftArm">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="-232" y="0" z="0"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		
+		<ChildFromRobot>
+			<File importEEF="true">ArmarIII-LeftArm_minColModel.xml</File>
+		</ChildFromRobot>
+	</RobotNode>
+	
+	<RobotNode name="TrafoToRightArm">
+		<Joint type="fixed">
+			<PreJointTransform>
+				<Transform>
+					<Translation x="232" y="0" z="0"/>
+				</Transform>
+			</PreJointTransform>
+		</Joint>
+		<Visualization enable="true">
+			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+		</Visualization>
+		
+		<ChildFromRobot>
+			<File importEEF="true">ArmarIII-RightArm_minColModel.xml</File>
+		</ChildFromRobot>
+	</RobotNode>
+	
+	<RobotNodeSet name="Torso" kinematicRoot="Platform">
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="TorsoHeadColModel">
+		<Node name="Hip Yaw"/>
+		<Node name="Head_Tilt"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="PlatformTorsoColModel">
+		<Node name="Platform"/>
+		<Node name="Hip Yaw"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="PlatformTorsoHeadColModel">
+		<Node name="Platform"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Head_Tilt"/>
+	</RobotNodeSet>
+	
+	<RobotNodeSet name="TorsoLeftArm" kinematicRoot="Platform" tcp="TCP L">
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 L"/>
+		<Node name="Shoulder 2 L"/>
+		<Node name="Upperarm L"/>
+		<Node name="Elbow L"/>
+		<Node name="Underarm L"/>
+		<Node name="Wrist 1 L"/>
+		<Node name="Wrist 2 L"/>
+	</RobotNodeSet>	
+	
+	<RobotNodeSet name="TorsoRightArm" kinematicRoot="Platform" tcp="TCP R">
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 R"/>
+		<Node name="Shoulder 2 R"/>
+		<Node name="Upperarm R"/>
+		<Node name="Elbow R"/>
+		<Node name="Underarm R"/>
+		<Node name="Wrist 1 R"/>
+		<Node name="Wrist 2 R"/>
+	</RobotNodeSet>
+	
+	
+	<RobotNodeSet name="TorsoBothArms" kinematicRoot="Platform">
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 L"/>
+		<Node name="Shoulder 2 L"/>
+		<Node name="Upperarm L"/>
+		<Node name="Elbow L"/>
+		<Node name="Underarm L"/>
+		<Node name="Wrist 1 L"/>
+		<Node name="Wrist 2 L"/>
+		<Node name="Shoulder 1 R"/>
+		<Node name="Shoulder 2 R"/>
+		<Node name="Upperarm R"/>
+		<Node name="Elbow R"/>
+		<Node name="Underarm R"/>
+		<Node name="Wrist 1 R"/>
+		<Node name="Wrist 2 R"/>
+	</RobotNodeSet>	
+	
+	<RobotNodeSet name="Robot" kinematicRoot="Platform">
+		<Node name="Neck_1_Pitch"/>
+		<Node name="Neck_2_Roll"/>
+		<Node name="Neck_3_Yaw"/>
+		<Node name="Head_Tilt"/>
+		<Node name="Cameras"/>
+		<Node name="Eye_Left"/>
+		<Node name="Eye_Right"/>
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 L"/>
+		<Node name="Shoulder 2 L"/>
+		<Node name="Upperarm L"/>
+		<Node name="Elbow L"/>
+		<Node name="Underarm L"/>
+		<Node name="Wrist 1 L"/>
+		<Node name="Wrist 2 L"/>
+		<Node name="Shoulder 1 R"/>
+		<Node name="Shoulder 2 R"/>
+		<Node name="Upperarm R"/>
+		<Node name="Elbow R"/>
+		<Node name="Underarm R"/>
+		<Node name="Wrist 1 R"/>
+		<Node name="Wrist 2 R"/>
+		<Node name="Hand Palm 1 L"/>
+		<Node name="Hand Palm 2 L"/>
+		<Node name="Thumb L J0"/>
+		<Node name="Thumb L J1"/>
+		<Node name="Index L J0"/>
+		<Node name="Index L J1"/>
+		<Node name="Middle L J0"/>
+		<Node name="Middle L J1"/>
+		<Node name="Ring L J0"/>
+		<Node name="Ring L J1"/>
+		<Node name="Pinky L J0"/>
+		<Node name="Pinky L J1"/>
+		<Node name="Hand Palm 1 R"/>
+		<Node name="Hand Palm 2 R"/>
+		<Node name="Thumb R J0"/>
+		<Node name="Thumb R J1"/>
+		<Node name="Index R J0"/>
+		<Node name="Index R J1"/>
+		<Node name="Middle R J0"/>
+		<Node name="Middle R J1"/>
+		<Node name="Ring R J0"/>
+		<Node name="Ring R J1"/>
+		<Node name="Pinky R J0"/>
+		<Node name="Pinky R J1"/>
+	</RobotNodeSet>	
+
+	<RobotNodeSet name="PlatformYawTorsoLeftArm" kinematicRoot="Armar3_Base" tcp="TCP L">
+	    <Node name="Yaw_Platform"/>
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 L"/>
+		<Node name="Shoulder 2 L"/>
+		<Node name="Upperarm L"/>
+		<Node name="Elbow L"/>
+		<Node name="Underarm L"/>
+		<Node name="Wrist 1 L"/>
+		<Node name="Wrist 2 L"/>
+	</RobotNodeSet>	
+
+	<RobotNodeSet name="PlatformYawTorsoRightArm" kinematicRoot="Armar3_Base" tcp="TCP R">
+		<Node name="Yaw_Platform"/>
+		<Node name="Hip Pitch"/>
+		<Node name="Hip Roll"/>
+		<Node name="Hip Yaw"/>
+		<Node name="Shoulder 1 R"/>
+		<Node name="Shoulder 2 R"/>
+		<Node name="Upperarm R"/>
+		<Node name="Elbow R"/>
+		<Node name="Underarm R"/>
+		<Node name="Wrist 1 R"/>
+		<Node name="Wrist 2 R"/>
+	</RobotNodeSet>
+	
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/head.iv b/data/RobotAPI/robots/Armar3b/collisionModel/head.iv
new file mode 100644
index 0000000000000000000000000000000000000000..509324db37893a45c08d2eb791ea056bc4d19460
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/head.iv
@@ -0,0 +1,429 @@
+#Inventor V1.0 ascii
+
+Separator {
+    ShapeHints {
+        hints    (SOLID | ORDERED | CONVEX)
+    }
+        Units {
+            units MILLIMETERS
+    }
+
+	Transform {
+	translation 0 0 0
+	rotation 0 1 0 1.57
+	}
+	Transform {
+	translation 0 0 0
+	rotation 1 0 0 3.14
+	}
+	Transform {
+	translation 0 0 0
+	rotation 0 1 0 3.14
+	}
+    Material {
+        diffuseColor    1 1 1
+    }
+    Separator {
+        Normal {
+            vector      [ -4.88664e-16 2.39001e-16 -1,
+                          -4.88664e-16 2.39001e-16 -1,
+                          -4.88664e-16 2.39001e-16 -1,
+                          -0.707107 1.8482e-16 -0.707107,
+                          -0.707107 1.8482e-16 -0.707107,
+                          -0.707107 1.8482e-16 -0.707107,
+                          -4.88664e-16 2.39001e-16 -1,
+                          -4.88664e-16 2.39001e-16 -1,
+                          -4.88664e-16 2.39001e-16 -1,
+                          -4.27068e-16 0.447214 -0.894427,
+                          -4.27068e-16 0.447214 -0.894427,
+                          -4.27068e-16 0.447214 -0.894427,
+                          -4.27068e-16 0.447214 -0.894427,
+                          -4.27068e-16 0.447214 -0.894427,
+                          -4.27068e-16 0.447214 -0.894427,
+                          -0.707107 1.8482e-16 -0.707107,
+                          -0.707107 1.8482e-16 -0.707107,
+                          -0.707107 1.8482e-16 -0.707107,
+                          -3.61359e-16 -0.707107 -0.707107,
+                          -3.61359e-16 -0.707107 -0.707107,
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/index_l1.iv b/data/RobotAPI/robots/Armar3b/collisionModel/index_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..3ba7735aadcc9976b925dc9ef57a4abce72b4c8c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/index_l1.iv
@@ -0,0 +1,111 @@
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/index_l2.iv b/data/RobotAPI/robots/Armar3b/collisionModel/index_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..d3a66db5413ae43fdebcee249c0d122f65444961
--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/index_r1.iv b/data/RobotAPI/robots/Armar3b/collisionModel/index_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ea65ade440bca4da11e054f2f321b52dba485128
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/index_r1.iv
@@ -0,0 +1,110 @@
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/index_r2.iv b/data/RobotAPI/robots/Armar3b/collisionModel/index_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..d3a66db5413ae43fdebcee249c0d122f65444961
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/index_r2.iv
@@ -0,0 +1,131 @@
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/middle_l1.iv b/data/RobotAPI/robots/Armar3b/collisionModel/middle_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5afda54b141a25ca9d66e31c2fd044bb974b901a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/middle_l1.iv
@@ -0,0 +1,110 @@
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/middle_l2.iv b/data/RobotAPI/robots/Armar3b/collisionModel/middle_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..40ccb7b24f987b0e7ba4a33eb5986affba684b9c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/middle_l2.iv
@@ -0,0 +1,130 @@
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/middle_r1.iv b/data/RobotAPI/robots/Armar3b/collisionModel/middle_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ea65ade440bca4da11e054f2f321b52dba485128
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/middle_r1.iv
@@ -0,0 +1,110 @@
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/middle_r2.iv b/data/RobotAPI/robots/Armar3b/collisionModel/middle_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..40ccb7b24f987b0e7ba4a33eb5986affba684b9c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/middle_r2.iv
@@ -0,0 +1,130 @@
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/palm1_l.iv b/data/RobotAPI/robots/Armar3b/collisionModel/palm1_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..f36a9e89ff6fc53e4048bde9d0900e39b980ae49
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/palm1_l.iv
@@ -0,0 +1,187 @@
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/palm1_r.iv b/data/RobotAPI/robots/Armar3b/collisionModel/palm1_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..c8c655c1d7897236e7f18b412c2941865fb05dba
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/palm1_r.iv
@@ -0,0 +1,191 @@
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/palm2_l.iv b/data/RobotAPI/robots/Armar3b/collisionModel/palm2_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5d0fff8ef82c43e332a9bb2c58495d6a73c38a3e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/palm2_l.iv
@@ -0,0 +1,106 @@
+#Inventor V1.0 ascii
+
+Separator {
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+        hints    (SOLID | ORDERED | CONVEX)
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/palm2_r.iv b/data/RobotAPI/robots/Armar3b/collisionModel/palm2_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ab71de90870e50ac867a08f8d417b67483e91f75
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/palm2_r.iv
@@ -0,0 +1,110 @@
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/pinky_l1.iv b/data/RobotAPI/robots/Armar3b/collisionModel/pinky_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5afda54b141a25ca9d66e31c2fd044bb974b901a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/pinky_l1.iv
@@ -0,0 +1,110 @@
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+
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/pinky_l2.iv b/data/RobotAPI/robots/Armar3b/collisionModel/pinky_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..805e4803cf962385d44429d52de832d9878e47c7
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/pinky_l2.iv
@@ -0,0 +1,130 @@
+#Inventor V1.0 ascii
+
+Separator {
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+        hints    (SOLID | ORDERED | CONVEX)
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+    Units {
+            units MILLIMETERS
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+	Transform {
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+	} 
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/pinky_r1.iv b/data/RobotAPI/robots/Armar3b/collisionModel/pinky_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ea65ade440bca4da11e054f2f321b52dba485128
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/pinky_r1.iv
@@ -0,0 +1,110 @@
+#Inventor V1.0 ascii
+
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/pinky_r2.iv b/data/RobotAPI/robots/Armar3b/collisionModel/pinky_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..805e4803cf962385d44429d52de832d9878e47c7
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/pinky_r2.iv
@@ -0,0 +1,130 @@
+#Inventor V1.0 ascii
+
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/platform.iv b/data/RobotAPI/robots/Armar3b/collisionModel/platform.iv
new file mode 100644
index 0000000000000000000000000000000000000000..59e60c34a8151285be4dbb03269c376432a5827c
--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/ring_l1.iv b/data/RobotAPI/robots/Armar3b/collisionModel/ring_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5afda54b141a25ca9d66e31c2fd044bb974b901a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/ring_l1.iv
@@ -0,0 +1,110 @@
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/ring_l2.iv b/data/RobotAPI/robots/Armar3b/collisionModel/ring_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..8b1d59dcbd8d10bf880a4963af848e76c7611041
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/ring_l2.iv
@@ -0,0 +1,130 @@
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/ring_r1.iv b/data/RobotAPI/robots/Armar3b/collisionModel/ring_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..1c0c9c155d2f97e953764670127009e425ac246c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/ring_r1.iv
@@ -0,0 +1,106 @@
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/ring_r2.iv b/data/RobotAPI/robots/Armar3b/collisionModel/ring_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..8b1d59dcbd8d10bf880a4963af848e76c7611041
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/ring_r2.iv
@@ -0,0 +1,130 @@
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/shoulder_l.iv b/data/RobotAPI/robots/Armar3b/collisionModel/shoulder_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..e4f6d8edbe5361ac48c2fb5bcd5d73a458b16320
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/shoulder_l.iv
@@ -0,0 +1,161 @@
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+    Units {
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+	  Transform {
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+}
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/shoulder_r.iv b/data/RobotAPI/robots/Armar3b/collisionModel/shoulder_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..7d3a46b37a4147a49bcf356d2a7c268cfc538973
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/shoulder_r.iv
@@ -0,0 +1,162 @@
+#Inventor V1.0 ascii
+
+Separator {
+    ShapeHints {
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+    Units {
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+
+  Transform {
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/thumb_l1.iv b/data/RobotAPI/robots/Armar3b/collisionModel/thumb_l1.iv
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index 0000000000000000000000000000000000000000..f49f640c61abd582fc841aff68d153afe9f6bc67
--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/thumb_l2.iv b/data/RobotAPI/robots/Armar3b/collisionModel/thumb_l2.iv
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index 0000000000000000000000000000000000000000..080bc6471561f097ac6a30d13d0d2b8cd275e16d
--- /dev/null
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@@ -0,0 +1,127 @@
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/thumb_r1.iv b/data/RobotAPI/robots/Armar3b/collisionModel/thumb_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..f1e1766094378140e23a36fc8cddcf7e537663af
--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/thumb_r2.iv b/data/RobotAPI/robots/Armar3b/collisionModel/thumb_r2.iv
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/torso.iv b/data/RobotAPI/robots/Armar3b/collisionModel/torso.iv
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/underarm_l.iv b/data/RobotAPI/robots/Armar3b/collisionModel/underarm_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..84087a8e7d9c80114b7bacc23c33a6fc23bc31bc
--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/underarm_r.iv b/data/RobotAPI/robots/Armar3b/collisionModel/underarm_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..e742c3fcfb285e541a0fc3dd5e448fb05c75a871
--- /dev/null
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@@ -0,0 +1,156 @@
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/upperarm_l.iv b/data/RobotAPI/robots/Armar3b/collisionModel/upperarm_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b3387c8b623fce522cbfcbc06c52e15fa3f25c70
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/upperarm_l.iv
@@ -0,0 +1,204 @@
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+    }
+}
diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/upperarm_r.iv b/data/RobotAPI/robots/Armar3b/collisionModel/upperarm_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..abb0dd11d52195869afcc6b98ecd4f01cb62df30
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/upperarm_r.iv
@@ -0,0 +1,204 @@
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/wrist1_l.iv b/data/RobotAPI/robots/Armar3b/collisionModel/wrist1_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..7ce1897c7faf757ae43c75e03fea8f8c7f598de3
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/wrist1_l.iv
@@ -0,0 +1,37 @@
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+
+Separator {
+
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+		translation 0 0 0
+		rotation 0 1 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 1.57
+	} 
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+
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/wrist2_l.iv b/data/RobotAPI/robots/Armar3b/collisionModel/wrist2_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..7ce1897c7faf757ae43c75e03fea8f8c7f598de3
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/collisionModel/wrist2_l.iv
@@ -0,0 +1,37 @@
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+
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+		translation 0 0 0
+		rotation 0 1 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 1.57
+	} 
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+
+	Separator
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diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/handlink_green_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/handlink_green_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..4806a69592564869414f23d70f40d7b6323eac1d
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/handlink_green_conv.wrl
@@ -0,0 +1,52 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
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diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/handlink_red_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/handlink_red_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..c0c85117ede25234946fdff69d69fe62cbf117f9
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/handlink_red_conv.wrl
@@ -0,0 +1,50 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
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diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/metacarpals_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/metacarpals_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..ec199da48eed5c4ed17be33d88c548a65a4cecbc
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/metacarpals_conv.wrl
@@ -0,0 +1,52 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
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+  translation 0 0 0
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+	       shininess .5
+        }
+      }
+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/palm1_l_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/palm1_l_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..5c73d61fa4caf185c722abc3cea6c85e031733fa
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/palm1_l_conv.wrl
@@ -0,0 +1,48 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
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+      appearance Appearance
+      {
+        material Material
+        {
+	       ambientIntensity 0.2
+	       diffuseColor 0.9 0.9 0.9
+	       specularColor .1 .1 .1
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+        }
+      }
+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/palm1_r_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/palm1_r_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..4b648662c8f55fed339aa14a202c990203f0101f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/palm1_r_conv.wrl
@@ -0,0 +1,52 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
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+    {
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+      {
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+        solid FALSE
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+	       specularColor .1 .1 .1
+	       shininess .5
+        }
+      }
+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/palm2_l_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/palm2_l_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a757f837de2a5f9e06295bf0f057d9a4adf1d5f1
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/palm2_l_conv.wrl
@@ -0,0 +1,48 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
+    Shape
+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
+        solid FALSE
+        coord Coordinate
+        {
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+      }
+      appearance Appearance
+      {
+        material Material
+        {
+	       ambientIntensity 0.2
+	       diffuseColor 0.9 0.9 0.9
+	       specularColor .1 .1 .1
+	       shininess .5
+        }
+      }
+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/palm2_r_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/palm2_r_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..5b7259bef6d34a5c6e4c36f503229d28c2308a49
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/palm2_r_conv.wrl
@@ -0,0 +1,48 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
+    Shape
+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
+        solid FALSE
+        coord Coordinate
+        {
+          point
+          [
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+        [
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+          5,8,7,-1, 5,4,8,-1, 11,1,10,-1, 0,7,8,-1, 11,6,1,-1, 6,2,3,-1, 
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+      }
+      appearance Appearance
+      {
+        material Material
+        {
+	       ambientIntensity 0.2
+	       diffuseColor 0.9 0.9 0.9
+	       specularColor .1 .1 .1
+	       shininess .5
+        }
+      }
+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/proximal_index_middle_thumb_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/proximal_index_middle_thumb_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a88c46fec92e35e34e237df3cf77cb453e1a50a6
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/proximal_index_middle_thumb_conv.wrl
@@ -0,0 +1,57 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
+    Shape
+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
+        solid FALSE
+        coord Coordinate
+        {
+          point
+          [
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+        [
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+      appearance Appearance
+      {
+        material Material
+        {
+	       ambientIntensity 0.2
+	       diffuseColor 0.9 0.9 0.9
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+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/proximal_pinky_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/proximal_pinky_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..3cee1a4c0c5884957d688ce3c9a715f5b0993acf
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/proximal_pinky_conv.wrl
@@ -0,0 +1,52 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
+    Shape
+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
+        solid FALSE
+        coord Coordinate
+        {
+          point
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+        [
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+      appearance Appearance
+      {
+        material Material
+        {
+	       ambientIntensity 0.2
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+	       shininess .5
+        }
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+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/proximal_ring_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/proximal_ring_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..434f866a0c59dba56d43854f464aa526a20b1cfb
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/hands/proximal_ring_conv.wrl
@@ -0,0 +1,52 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
+    Shape
+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
+        solid FALSE
+        coord Coordinate
+        {
+          point
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+	       ambientIntensity 0.2
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+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/head/head_base_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/head/head_base_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..de0417fe3173194e2fdb36a93994970f69c8e9a6
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/head/head_base_conv.wrl
@@ -0,0 +1,49 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
+    Shape
+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
+        solid FALSE
+        coord Coordinate
+        {
+          point
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+        [
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+      }
+      appearance Appearance
+      {
+        material Material
+        {
+	       ambientIntensity 0.2
+	       diffuseColor 0.9 0.9 0.9
+	       specularColor .1 .1 .1
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+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/head/head_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/head/head_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..6c4ca129132d0b2748bf174d41d49cc0c66fa924
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/head/head_conv.wrl
@@ -0,0 +1,59 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
+    Shape
+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
+        solid FALSE
+        coord Coordinate
+        {
+          point
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+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/left_arm/elbow_link_l_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/left_arm/elbow_link_l_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..6752ae63930cb5c32d64e8a88beb61bcb503601e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/left_arm/elbow_link_l_conv.wrl
@@ -0,0 +1,52 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
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+      {
+        material Material
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+	       ambientIntensity 0.2
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+	       specularColor .1 .1 .1
+	       shininess .5
+        }
+      }
+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/left_arm/shoulder_l_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/left_arm/shoulder_l_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..eb86bfe2a25f0e3a3777f4ae0fa8311b73071d16
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/left_arm/shoulder_l_conv.wrl
@@ -0,0 +1,52 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
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+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
+        solid FALSE
+        coord Coordinate
+        {
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+        [
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+	       specularColor .1 .1 .1
+	       shininess .5
+        }
+      }
+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/left_arm/shoulder_link_l_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/left_arm/shoulder_link_l_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..b4b2c29a8b7f43694435c7232ad9145124bdf880
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/left_arm/shoulder_link_l_conv.wrl
@@ -0,0 +1,50 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
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+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
+        solid FALSE
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+      appearance Appearance
+      {
+        material Material
+        {
+	       ambientIntensity 0.2
+	       diffuseColor 0.9 0.9 0.9
+	       specularColor .1 .1 .1
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+        }
+      }
+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/left_arm/underarm_l_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/left_arm/underarm_l_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..3762b7a593c7400ba121f42e5347963201ef1377
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/left_arm/underarm_l_conv.wrl
@@ -0,0 +1,55 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
+    Shape
+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
+        solid FALSE
+        coord Coordinate
+        {
+          point
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+        [
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+	       ambientIntensity 0.2
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+	       shininess .5
+        }
+      }
+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/left_arm/upperarm_l_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/left_arm/upperarm_l_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e0e4d1f17a634f77b93d8848a0821625c92fd8f9
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/left_arm/upperarm_l_conv.wrl
@@ -0,0 +1,54 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
+    Shape
+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
+        solid FALSE
+        coord Coordinate
+        {
+          point
+          [
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+      appearance Appearance
+      {
+        material Material
+        {
+	       ambientIntensity 0.2
+	       diffuseColor 0.9 0.9 0.9
+	       specularColor .1 .1 .1
+	       shininess .5
+        }
+      }
+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/neck/neck_pitch_link_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/neck/neck_pitch_link_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..ee5ce751f04d92035d2b1e24ffe64e424fd1cbd8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/neck/neck_pitch_link_conv.wrl
@@ -0,0 +1,51 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
+    Shape
+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
+        solid FALSE
+        coord Coordinate
+        {
+          point
+          [
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+        [
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+      }
+      appearance Appearance
+      {
+        material Material
+        {
+	       ambientIntensity 0.2
+	       diffuseColor 0.9 0.9 0.9
+	       specularColor .1 .1 .1
+	       shininess .5
+        }
+      }
+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/neck/neck_roll_link_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/neck/neck_roll_link_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f3b439d1f89b9145ecbbca72c52fa2c8d86bf99b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/neck/neck_roll_link_conv.wrl
@@ -0,0 +1,49 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
+    Shape
+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
+        solid FALSE
+        coord Coordinate
+        {
+          point
+          [
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+            16 -57.4782 -111.38
+          ]
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+        coordIndex
+        [
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+          10,9,0,-1, 0,9,5,-1, 9,10,11,-1, 9,12,5,-1
+        ]
+      }
+      appearance Appearance
+      {
+        material Material
+        {
+	       ambientIntensity 0.2
+	       diffuseColor 0.9 0.9 0.9
+	       specularColor .1 .1 .1
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+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/neck/neck_yaw_link_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/neck/neck_yaw_link_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..1d93305883a3ddae10139dc0f4837393f4eee390
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/neck/neck_yaw_link_conv.wrl
@@ -0,0 +1,51 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
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+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/platform/hd_platform_pitch_link_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/platform/hd_platform_pitch_link_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..2038431b08211625dd0546110644fc49fd9a6df6
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/platform/hd_platform_pitch_link_conv.wrl
@@ -0,0 +1,54 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
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+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/platform/hd_platform_roll_link_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/platform/hd_platform_roll_link_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..6b06bfe24dcaf758b854f5beb94a02e85eed981b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/platform/hd_platform_roll_link_conv.wrl
@@ -0,0 +1,52 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
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+  scale 1 1 1
+  translation 0 0 0
+  children
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+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/platform/platform_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/platform/platform_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a7e2c8277a38044170cc35272d89312e703ca8d6
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/platform/platform_conv.wrl
@@ -0,0 +1,54 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
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+      }
+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/right_arm/elbow_link_r_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/right_arm/elbow_link_r_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..6752ae63930cb5c32d64e8a88beb61bcb503601e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/right_arm/elbow_link_r_conv.wrl
@@ -0,0 +1,52 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
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+    {
+      geometry IndexedFaceSet
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+        creaseAngle .5
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+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/right_arm/shoulder_link_r_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/right_arm/shoulder_link_r_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..b3c250cccfbb7b4cf2d58a512204e51c62f95c4b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/right_arm/shoulder_link_r_conv.wrl
@@ -0,0 +1,50 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
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+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
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+      appearance Appearance
+      {
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+	       ambientIntensity 0.2
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+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/right_arm/shoulder_r_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/right_arm/shoulder_r_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e32da6746e1d394f3b37e9cadc7fc755eb4db090
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/right_arm/shoulder_r_conv.wrl
@@ -0,0 +1,51 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
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+    {
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+      {
+        creaseAngle .5
+        solid FALSE
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+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/right_arm/underarm_r_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/right_arm/underarm_r_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..378274e4e1699c914cf7b2d2faf93ff5d71c6a9e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/right_arm/underarm_r_conv.wrl
@@ -0,0 +1,55 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
+    Shape
+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
+        solid FALSE
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+        {
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+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/right_arm/upperarm_r_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/right_arm/upperarm_r_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f6d6a045574ddf7de0657324ea494d2fda0c9bc0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/right_arm/upperarm_r_conv.wrl
@@ -0,0 +1,52 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
+    Shape
+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
+        solid FALSE
+        coord Coordinate
+        {
+          point
+          [
+            -69.5811 4.1645 42.0062, -136.301 -0.122217 41.58, -287.315 39.4499 -5.49195, -70.4671 33.9073 22.678, 
+            -68.7048 40.2269 -6.6456, -69.976 -9.56657 -40.4846, -67.0037 22.4011 -33.5214, -231.148 -20.6333 -34.8982, 
+            -233.137 10.0146 -38.7801, -68.445 -38.5915 -12.8467, -226.195 -41.2657 -3.0627, -71.5466 -33.2925 23.9268, 
+            -268.046 37.8458 -22.2792, -283.642 -22.6839 -14.1032, -293.773 37.7302 29.4315, -295.114 -22.3276 29.1564, 
+            0.703255 -4.34722 -15.3938, 8.87691 14.4855 1.40159e-007, 9.12451 -11.4672 9.31807
+          ]
+        }
+        coordIndex
+        [
+          15,11,1,-1, 14,1,0,-1, 3,14,0,-1, 17,3,0,-1, 18,0,11,-1, 11,0,1,-1, 
+          15,1,14,-1, 10,9,11,-1, 18,11,9,-1, 6,12,4,-1, 13,12,8,-1, 13,8,7,-1, 
+          18,17,0,-1, 9,10,7,-1, 13,7,10,-1, 4,17,6,-1, 13,10,15,-1, 12,6,8,-1, 
+          16,18,9,-1, 6,17,16,-1, 12,2,4,-1, 14,4,2,-1, 3,4,14,-1, 4,3,17,-1, 
+          9,7,5,-1, 16,9,5,-1, 5,6,16,-1, 7,8,5,-1, 6,5,8,-1, 11,15,10,-1, 
+          2,12,13,-1, 15,14,2,-1, 2,13,15,-1, 18,16,17,-1
+        ]
+      }
+      appearance Appearance
+      {
+        material Material
+        {
+	       ambientIntensity 0.2
+	       diffuseColor 0.9 0.9 0.9
+	       specularColor .1 .1 .1
+	       shininess .5
+        }
+      }
+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/armar/torso/torso_conv.wrl b/data/RobotAPI/robots/Armar3b/convexModel/armar/torso/torso_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..96e14bf231fa6d1d67205105a661f07abdc42b43
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/armar/torso/torso_conv.wrl
@@ -0,0 +1,54 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
+    Shape
+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
+        solid FALSE
+        coord Coordinate
+        {
+          point
+          [
+            -164.034 117.722 126.042, -131.908 176.891 131.017, 58.0618 176.983 131.043, 82.9937 142.354 130.966, 
+            -164.047 -117.298 126.052, -130.868 178.881 365.246, 75.0294 -180.711 358.224, -141.502 -115.748 564.57, 
+            -139.686 115.232 566.337, 19.5619 -1.83073e-006 28.9166, -0.697823 -0.000447581 21.411, -19.5895 -0.429302 632.047, 
+            -129.465 -180.726 358.938, 82.4193 -146.794 129.937, 75.026 180.654 358.77, -135.774 -176.897 131.261, 
+            51.5555 -176.989 131.012, -199.067 91.1645 233.034, 49.2065 -115.05 566.889, 49.2848 115.078 566.785, 
+            95.7263 114.994 446.348, 95.7279 -114.992 446.344
+          ]
+        }
+        coordIndex
+        [
+          0,4,17,-1, 10,1,2,-1, 3,14,20,-1, 17,1,0,-1, 0,1,10,-1, 0,10,4,-1, 
+          2,9,10,-1, 9,13,16,-1, 9,16,10,-1, 7,18,11,-1, 14,19,20,-1, 1,17,5,-1, 
+          4,10,15,-1, 2,3,9,-1, 13,3,21,-1, 7,4,12,-1, 15,12,4,-1, 18,7,12,-1, 
+          5,8,14,-1, 21,6,13,-1, 20,19,21,-1, 6,21,18,-1, 2,14,3,-1, 16,15,10,-1, 
+          7,17,4,-1, 5,17,8,-1, 17,7,8,-1, 8,19,14,-1, 12,6,18,-1, 16,6,12,-1, 
+          6,16,13,-1, 7,11,8,-1, 21,3,20,-1, 19,11,18,-1, 5,2,1,-1, 9,3,13,-1, 
+          5,14,2,-1, 12,15,16,-1, 8,11,19,-1, 18,21,19,-1
+        ]
+      }
+      appearance Appearance
+      {
+        material Material
+        {
+	       ambientIntensity 0.2
+	       diffuseColor 0.9 0.9 0.9
+	       specularColor .1 .1 .1
+	       shininess .5
+        }
+      }
+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/elbow_l.iv b/data/RobotAPI/robots/Armar3b/convexModel/elbow_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..2d68b771fbd78a6bec6c984494feb0314cba5676
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/elbow_l.iv
@@ -0,0 +1,29 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units {
+            units MILLIMETERS
+    }
+    Transform {
+        rotation 1 0 0 -1.57
+    }
+	Transform {
+		rotation 0 0 1 -1.57
+	} 
+	Transform {
+		rotation 0 1 0 3.14
+	} 
+        ## Kinematics 5.0 <-> armar model: 7.5
+	## Model of elbow is fixed to upperarm -> use offset, so transformations of kinematics have no effect
+#	Transform {
+#		translation 7.5 0 0 
+#		rotation 1 0 0 -0.07616814813524509
+#	} 
+	Transform {
+		translation 7.5 0 0
+		rotation 0 0 0 0 
+	} 
+    File { 
+    	name "armar/left_arm/elbow_link_l_conv.wrl"
+    }
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/elbow_r.iv b/data/RobotAPI/robots/Armar3b/convexModel/elbow_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..2e6b0049e1e6ad3aab94517d30e24ba6e66011f6
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/elbow_r.iv
@@ -0,0 +1,20 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units {
+            units MILLIMETERS
+    }
+
+    Transform {
+        rotation 1 0 0 1.57
+    }
+    Transform {
+    	rotation 0 0 1 1.57
+    } 
+    Transform {
+    	translation 7.5 0 0
+    } 
+	File { 
+  		name "armar/right_arm/elbow_link_r_conv.wrl"
+	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/eye_l.iv b/data/RobotAPI/robots/Armar3b/convexModel/eye_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5df57b2eae4774b2ab640eae55cd307d579aabc0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/eye_l.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		rotation 0 1 0 1.57
+	}
+
+	Transform {
+		rotation 0 0 1 1.57
+	}
+
+	File { 
+	  name "armar/eyes/eye.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/eye_link_l.iv b/data/RobotAPI/robots/Armar3b/convexModel/eye_link_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..8ec3c25ef28e6090eac76046700d629af1dce75e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/eye_link_l.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator { 
+
+	Transform {
+		rotation 0 1 0 1.57
+	}
+
+	Transform {
+		rotation 1 0 0 1.57
+	}
+
+	File { 
+		name "armar/eyes/eyes_pitch_link_left.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/eye_link_r.iv b/data/RobotAPI/robots/Armar3b/convexModel/eye_link_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5aef77b4bd7fc28d302e638b4fa0d368fc2d805f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/eye_link_r.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		rotation 0 1 0 1.57
+	}
+
+	Transform {
+		rotation 1 0 0 1.57
+	}
+
+	File { 
+	  name "armar/eyes/eyes_pitch_link_right.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/eye_r.iv b/data/RobotAPI/robots/Armar3b/convexModel/eye_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5df57b2eae4774b2ab640eae55cd307d579aabc0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/eye_r.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		rotation 0 1 0 1.57
+	}
+
+	Transform {
+		rotation 0 0 1 1.57
+	}
+
+	File { 
+	  name "armar/eyes/eye.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/head.iv b/data/RobotAPI/robots/Armar3b/convexModel/head.iv
new file mode 100644
index 0000000000000000000000000000000000000000..07390197af06a995310ba09d8937ad798f0248d9
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/head.iv
@@ -0,0 +1,15 @@
+#Inventor V2.1 ascii
+
+Separator { 
+    SoUnits
+    { 
+        units MILLIMETERS
+    }
+	Transform {
+		rotation 0 1 0 1.57
+	}
+
+	File { 
+		name "armar/head/head_conv.wrl"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/head_base.iv b/data/RobotAPI/robots/Armar3b/convexModel/head_base.iv
new file mode 100644
index 0000000000000000000000000000000000000000..1ede136dbed2cb493f0849fb8a79e7276985c438
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/head_base.iv
@@ -0,0 +1,19 @@
+#Inventor V2.1 ascii
+
+Separator {
+    SoUnits
+    { 
+        units MILLIMETERS
+    }
+    Transform {
+		translation -35 0 -605
+	}
+    RotationXYZ{
+      axis Z
+      angle 3.14
+    }
+    
+    File { 
+      name "armar/head/head_base_conv.wrl"
+    }
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/index_l1.iv b/data/RobotAPI/robots/Armar3b/convexModel/index_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..352ffff1a31f3e4bd693c2c37e3cc5ed35a0ac8c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/index_l1.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	}
+
+	Separator 
+	{
+		File {name armar/hands/metacarpals_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/index_l2.iv b/data/RobotAPI/robots/Armar3b/convexModel/index_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..96e986f4e213d85877a7e39d9ed936e1f5e06baa
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/index_l2.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	} 
+	Separator 
+	{
+		File {name armar/hands/proximal_index_middle_thumb_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/index_r1.iv b/data/RobotAPI/robots/Armar3b/convexModel/index_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..352ffff1a31f3e4bd693c2c37e3cc5ed35a0ac8c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/index_r1.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	}
+
+	Separator 
+	{
+		File {name armar/hands/metacarpals_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/index_r2.iv b/data/RobotAPI/robots/Armar3b/convexModel/index_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..f995cb3671a86b478c209081870c6c44e3098868
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/index_r2.iv
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	} 
+
+	Separator 
+	{
+		File {name armar/hands/proximal_index_middle_thumb_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/jaw.iv b/data/RobotAPI/robots/Armar3b/convexModel/jaw.iv
new file mode 100644
index 0000000000000000000000000000000000000000..a6cd0a5319271bf01eb7f327b1ac5ab7ff3751e0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/jaw.iv
@@ -0,0 +1,20 @@
+#Inventor V2.1 ascii
+
+Separator { 
+
+    Units {
+            units MILLIMETERS
+    }
+	Transform {
+		translation 0 10 0 
+		rotation 0 0 1 1.57
+	}
+
+	Transform {
+		rotation 0 1 0 -1.57
+	}
+
+	File { 
+		name "armar/head/jaw.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/lid_l_bottom.iv b/data/RobotAPI/robots/Armar3b/convexModel/lid_l_bottom.iv
new file mode 100644
index 0000000000000000000000000000000000000000..fee6dbbbc050aba14dccd2977e038c56c95f1e6a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/lid_l_bottom.iv
@@ -0,0 +1,11 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Transform {
+		translation 0 0 0
+		rotation 0 1 0 -0.87
+	} 
+	File { 
+		name "armar/eyes/lid.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/lid_l_top.iv b/data/RobotAPI/robots/Armar3b/convexModel/lid_l_top.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b3cbbaed2c7dfbb0e4787964dd903c830fed993a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/lid_l_top.iv
@@ -0,0 +1,11 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Transform {
+		translation 0 0 0
+		rotation 0 1 0 -2.44
+	} 
+	File { 
+		name "armar/eyes/lid.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/lid_r_bottom.iv b/data/RobotAPI/robots/Armar3b/convexModel/lid_r_bottom.iv
new file mode 100644
index 0000000000000000000000000000000000000000..fee6dbbbc050aba14dccd2977e038c56c95f1e6a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/lid_r_bottom.iv
@@ -0,0 +1,11 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Transform {
+		translation 0 0 0
+		rotation 0 1 0 -0.87
+	} 
+	File { 
+		name "armar/eyes/lid.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/lid_r_top.iv b/data/RobotAPI/robots/Armar3b/convexModel/lid_r_top.iv
new file mode 100644
index 0000000000000000000000000000000000000000..9e55171a4ab2695f4a37127c60f9b6f5f80769e1
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/lid_r_top.iv
@@ -0,0 +1,12 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Transform {
+		translation 0 0 0
+		rotation 0 1 0 -2.44
+	} 
+
+	File { 
+		name "armar/eyes/lid.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/middle_l1.iv b/data/RobotAPI/robots/Armar3b/convexModel/middle_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..352ffff1a31f3e4bd693c2c37e3cc5ed35a0ac8c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/middle_l1.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	}
+
+	Separator 
+	{
+		File {name armar/hands/metacarpals_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/middle_l2.iv b/data/RobotAPI/robots/Armar3b/convexModel/middle_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..f995cb3671a86b478c209081870c6c44e3098868
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/middle_l2.iv
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	} 
+
+	Separator 
+	{
+		File {name armar/hands/proximal_index_middle_thumb_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/middle_r1.iv b/data/RobotAPI/robots/Armar3b/convexModel/middle_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..352ffff1a31f3e4bd693c2c37e3cc5ed35a0ac8c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/middle_r1.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	}
+
+	Separator 
+	{
+		File {name armar/hands/metacarpals_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/middle_r2.iv b/data/RobotAPI/robots/Armar3b/convexModel/middle_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..96e986f4e213d85877a7e39d9ed936e1f5e06baa
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/middle_r2.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	} 
+	Separator 
+	{
+		File {name armar/hands/proximal_index_middle_thumb_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/neck_pitch_link.iv b/data/RobotAPI/robots/Armar3b/convexModel/neck_pitch_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..33f287d365f57dac603b1d8a21f46e7283fb95d1
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/neck_pitch_link.iv
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+
+Separator { 
+    SoUnits
+    { 
+        units MILLIMETERS
+    }
+	Transform {
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		rotation 1 0 0 -1.57
+	}
+
+	File { 
+	  name "armar/neck/neck_pitch_link_conv.wrl"
+	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/neck_roll_link.iv b/data/RobotAPI/robots/Armar3b/convexModel/neck_roll_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..70273a63fd70fdb3eaff16128c06c4ce5175e819
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/neck_roll_link.iv
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+
+Separator { 
+    SoUnits
+    { 
+        units MILLIMETERS
+    }
+	Transform {
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		rotation 0 1 0 -1.57
+	}
+
+	File { 
+		name "armar/neck/neck_yaw_link_conv.wrl"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/neck_yaw_link.iv b/data/RobotAPI/robots/Armar3b/convexModel/neck_yaw_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..14a17799444a4ef176896ba7a59c521ef4d03761
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/neck_yaw_link.iv
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+
+Separator { 
+    SoUnits
+    { 
+        units MILLIMETERS
+    }
+	Transform {
+		rotation 0 1 0 3.14
+	}
+	Transform {
+		rotation 0 0 1 1.57
+	}
+
+	File { 
+		name "armar/neck/neck_roll_link_conv.wrl"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/palm1_l.iv b/data/RobotAPI/robots/Armar3b/convexModel/palm1_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..36e9492f7f31734fe16317267fc4022e3f840bca
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/palm1_l.iv
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+
+	Transform {
+		translation 0 0 0
+		rotation 0 0 -1 1.57
+	} 
+
+	Separator 
+	{
+		File {name armar/hands/palm1_l_conv.wrl }
+	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/palm1_r.iv b/data/RobotAPI/robots/Armar3b/convexModel/palm1_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..20031ad9809be180a9a484f56718f808a7311d17
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/palm1_r.iv
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+
+	Transform {
+		translation 0 0 0
+		rotation 0 0 -1 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 3.1415
+	} 
+
+	Separator 
+	{
+		File {name armar/hands/palm1_r_conv.wrl }
+	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/palm2_l.iv b/data/RobotAPI/robots/Armar3b/convexModel/palm2_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..31551d6dbf0bc4f11030f848fa67b062547cdd88
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/palm2_l.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+
+	Transform {
+		translation 0 0 0
+		rotation 0 0 -1 1.57
+	} 
+	Transform {
+		rotation 0 1 0 1.57
+	} 
+
+	Separator 
+	{
+		File {name armar/hands/palm2_l_conv.wrl }
+	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/palm2_r.iv b/data/RobotAPI/robots/Armar3b/convexModel/palm2_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b4a79254881565bf7e0858881e45fb241997ce48
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/palm2_r.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+
+	Transform {
+		translation 0 0 0
+		rotation 0 0 -1 1.57
+	} 
+	Transform {
+		rotation 0 1 0 -1.57
+	} 
+
+	Separator 
+	{
+		File {name armar/hands/palm2_r_conv.wrl }
+	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/pinky_l1.iv b/data/RobotAPI/robots/Armar3b/convexModel/pinky_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..352ffff1a31f3e4bd693c2c37e3cc5ed35a0ac8c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/pinky_l1.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	}
+
+	Separator 
+	{
+		File {name armar/hands/metacarpals_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/pinky_l2.iv b/data/RobotAPI/robots/Armar3b/convexModel/pinky_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..3a674b7a167508772926fbd34da99d4083c6b500
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/pinky_l2.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	} 
+	Separator 
+	{
+		File {name armar/hands/proximal_pinky_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/pinky_r1.iv b/data/RobotAPI/robots/Armar3b/convexModel/pinky_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..352ffff1a31f3e4bd693c2c37e3cc5ed35a0ac8c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/pinky_r1.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	}
+
+	Separator 
+	{
+		File {name armar/hands/metacarpals_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/pinky_r2.iv b/data/RobotAPI/robots/Armar3b/convexModel/pinky_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..3a674b7a167508772926fbd34da99d4083c6b500
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/pinky_r2.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	} 
+	Separator 
+	{
+		File {name armar/hands/proximal_pinky_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/platform.iv b/data/RobotAPI/robots/Armar3b/convexModel/platform.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ba90592389b6fc3ee31c4d0549fe1b47439f3606
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/platform.iv
@@ -0,0 +1,19 @@
+#Inventor V2.1 ascii
+
+Separator { #Model
+    Units
+    {
+        units MILLIMETERS
+    }
+ RotationXYZ {
+   axis X
+   angle 1.57
+   }
+ RotationXYZ{
+ 	axis Z
+	angle -1.57
+ }
+ File { 
+  name "armar/platform/platform_conv.wrl"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/platform_pitch_link.iv b/data/RobotAPI/robots/Armar3b/convexModel/platform_pitch_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..82c5044d7964ae2de6d16fe00571860455bf6e7a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/platform_pitch_link.iv
@@ -0,0 +1,14 @@
+#Inventor V2.1 ascii
+
+Separator { #Model
+    Units {
+        units MILLIMETERS
+    }
+    RotationXYZ{
+        axis Z
+        angle 1.57
+    }
+    File { 
+        name "armar/platform/hd_platform_pitch_link_conv.wrl"
+    }
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/platform_roll_link.iv b/data/RobotAPI/robots/Armar3b/convexModel/platform_roll_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..e5ffeff568f5d320a2f8dba4259d25b21deb549a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/platform_roll_link.iv
@@ -0,0 +1,23 @@
+#Inventor V2.1 ascii
+
+Separator { #Model
+    Units {
+        units MILLIMETERS
+    }
+    RotationXYZ{
+        axis Z
+        angle 1.57
+    }
+    Transform{
+        translation	0 0 127
+    }
+    Transform {
+        rotation 0 1 0 3.1415
+    }
+    Transform {
+        rotation 0 0 1 -1.57
+    }
+    File { 
+        name "armar/platform/hd_platform_roll_link_conv.wrl"
+    }
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/ring_l1.iv b/data/RobotAPI/robots/Armar3b/convexModel/ring_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..352ffff1a31f3e4bd693c2c37e3cc5ed35a0ac8c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/ring_l1.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	}
+
+	Separator 
+	{
+		File {name armar/hands/metacarpals_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/ring_l2.iv b/data/RobotAPI/robots/Armar3b/convexModel/ring_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..c6fb4cd4a09e9b4d4f421c52279f440081852958
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/ring_l2.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	} 
+	Separator 
+	{
+		File {name armar/hands/proximal_ring_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/ring_r1.iv b/data/RobotAPI/robots/Armar3b/convexModel/ring_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..352ffff1a31f3e4bd693c2c37e3cc5ed35a0ac8c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/ring_r1.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	}
+
+	Separator 
+	{
+		File {name armar/hands/metacarpals_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/ring_r2.iv b/data/RobotAPI/robots/Armar3b/convexModel/ring_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..540d2b94eaf5c508207e92cbd102fa10f3d39e3c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/ring_r2.iv
@@ -0,0 +1,23 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	} 
+
+
+	Separator 
+	{
+		File {name armar/hands/proximal_ring_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/shoulder2_l_rot.iv b/data/RobotAPI/robots/Armar3b/convexModel/shoulder2_l_rot.iv
new file mode 100644
index 0000000000000000000000000000000000000000..87e1f6394ecd1458d453a9e47a4b850c7b1e0ba1
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/shoulder2_l_rot.iv
@@ -0,0 +1,15 @@
+#Inventor V2.1 ascii
+Separator {
+    Units {
+        units MILLIMETERS
+    }
+    Transform {
+        rotation 0 0 1  1.57
+    }
+    Transform {
+        rotation 0 0 1 1.57  
+    }
+    File { 
+    	name "armar/left_arm/shoulder_link_l_conv.wrl"
+    }
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/shoulder2_r_rot.iv b/data/RobotAPI/robots/Armar3b/convexModel/shoulder2_r_rot.iv
new file mode 100644
index 0000000000000000000000000000000000000000..2bc4f69ea02a8b1f9610c5ea9c00ee840782f623
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/shoulder2_r_rot.iv
@@ -0,0 +1,23 @@
+#Inventor V2.1 ascii
+Separator {
+    Units {
+            units MILLIMETERS
+    }
+
+  Transform {
+	translation 0 0 0
+	rotation 0 0 1  -1.57
+  }
+  Transform {
+	translation 0 0 0
+	rotation 0 1 0 3.14
+}
+  Transform {
+	translation 0 0 0
+	rotation 0 0 1  1.57
+  }
+    	File { 
+      		name "armar/right_arm/shoulder_link_r_conv.wrl"
+    	}
+
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/shoulder_l.iv b/data/RobotAPI/robots/Armar3b/convexModel/shoulder_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..a4955ba26b21c6b17db8c8a2decc6109a5db44fe
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/shoulder_l.iv
@@ -0,0 +1,20 @@
+#Inventor V2.1 ascii
+Separator {
+
+    Units {
+        units MILLIMETERS
+    }
+    Transform {
+        rotation 0 0 1 -1.57
+    }
+    
+    Transform {
+        translation 0 0 -110
+    }
+    Transform {
+        rotation 0 1 0 -1.57
+    } 
+    File { 
+        name "armar/left_arm/shoulder_l_conv.wrl"
+    }
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/shoulder_r.iv b/data/RobotAPI/robots/Armar3b/convexModel/shoulder_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..cb1a9f6e43151f3a1e11c687ef5670d30c5c6e44
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/shoulder_r.iv
@@ -0,0 +1,19 @@
+#Inventor V2.1 ascii
+Separator {
+    Units {
+            units MILLIMETERS
+    }
+  Transform {
+	rotation 0 0 1 1.57
+  }
+  Transform {
+	rotation 0 1 0 3.14
+  }
+  Transform {
+	translation 0 0 -110
+  }
+ 
+  File { 
+	name "armar/right_arm/shoulder_r_conv.wrl"
+  }
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/thumb_l1.iv b/data/RobotAPI/robots/Armar3b/convexModel/thumb_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b6da70857b1181041ae4474a0bc38b34a87059ff
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/thumb_l1.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 -1.57
+	}	
+	Separator 
+	{
+		File {name armar/hands/metacarpals_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/thumb_l2.iv b/data/RobotAPI/robots/Armar3b/convexModel/thumb_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..a48e14f56f63665c6f3fb48504ee046b9b6be07e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/thumb_l2.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 -1.57
+	} 
+	Separator 
+	{
+		File {name armar/hands/proximal_index_middle_thumb_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/thumb_r1.iv b/data/RobotAPI/robots/Armar3b/convexModel/thumb_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b6da70857b1181041ae4474a0bc38b34a87059ff
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/thumb_r1.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 -1.57
+	}	
+	Separator 
+	{
+		File {name armar/hands/metacarpals_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/thumb_r2.iv b/data/RobotAPI/robots/Armar3b/convexModel/thumb_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..d7cf09e9a425d74fd75f226b85b0832574ba0dcd
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/thumb_r2.iv
@@ -0,0 +1,19 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units
+    {
+        units MILLIMETERS
+    }
+
+ 
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 -1.57
+	} 
+
+	Separator 
+	{
+		File {name armar/hands/proximal_index_middle_thumb_conv.wrl }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/torso.iv b/data/RobotAPI/robots/Armar3b/convexModel/torso.iv
new file mode 100644
index 0000000000000000000000000000000000000000..61753ec9ad3dc87e8fa803895318ca8fd9bfe7d9
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/torso.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+Separator { #Model
+
+    SoUnits
+    { 
+        units MILLIMETERS
+    }
+    RotationXYZ{
+      axis Z
+      angle 1.57
+    }
+    
+    File { 
+      name "armar/torso/torso_conv.wrl"
+    }
+} #Model
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/underarm_l.iv b/data/RobotAPI/robots/Armar3b/convexModel/underarm_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..88d451c3402bb81ff1cbd79c8f06c38d22bece53
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/underarm_l.iv
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units {
+            units MILLIMETERS
+    }
+	Transform {
+		translation 0 0 -46.5
+		rotation 0 0 0 0 
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 3.14
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 1.57
+	}
+   	File { 
+      		name "armar/left_arm/underarm_l_conv.wrl"
+    	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/underarm_r.iv b/data/RobotAPI/robots/Armar3b/convexModel/underarm_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..0ec5a19a13ae6f8a93a368e658a493c5f28a04fe
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/underarm_r.iv
@@ -0,0 +1,19 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units {
+            units MILLIMETERS
+    }
+
+	Transform {
+		translation 0 0 -46.5
+	}
+	
+    Transform {
+		rotation 0 0 1 1.57
+	}
+
+   	File { 
+      		name "armar/right_arm/underarm_r_conv.wrl"
+    	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/upperarm_l.iv b/data/RobotAPI/robots/Armar3b/convexModel/upperarm_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..99a39648879ea16c414e2faa13aec890f37bb23c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/upperarm_l.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+Separator {
+    Units {
+        units MILLIMETERS
+    }
+    Transform {
+        translation 0 0 0
+        rotation 0 1 0 -1.57
+    }
+    Transform {
+        translation -25.3 0 0 
+    }
+    File { 
+    	name "armar/left_arm/upperarm_l_conv.wrl"
+    }
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/upperarm_r.iv b/data/RobotAPI/robots/Armar3b/convexModel/upperarm_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..7496cad8647343e4ba0d98818d3282c501e28222
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/upperarm_r.iv
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+Separator {
+    Units {
+        units MILLIMETERS
+    }
+    Transform {
+        rotation 0 1 0 -1.57
+    }
+    Transform {
+        rotation 1 0 0 3.14
+    }
+    Transform {
+        translation -25.3 0 0 
+    }
+    File { 
+    	name "armar/right_arm/upperarm_r_conv.wrl"
+    }
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/wrist1_l.iv b/data/RobotAPI/robots/Armar3b/convexModel/wrist1_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..19fef404b9ce72927594f2ebf205139f3b38b2c3
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/wrist1_l.iv
@@ -0,0 +1,15 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units {
+            units MILLIMETERS
+    }
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	} 
+	Separator 
+	{
+		File {name armar/hands/handlink_red_conv.wrl }
+	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/wrist1_r.iv b/data/RobotAPI/robots/Armar3b/convexModel/wrist1_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..58e77a458d86048ce7f45cfefb37a90de57860ce
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/wrist1_r.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units {
+        units MILLIMETERS
+    }
+	Transform {
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		rotation 0 0 1 1.57
+	} 
+	Transform {
+		rotation 1 0 0 1.57
+	} 
+
+	Separator 
+	{
+		File {name armar/hands/handlink_red_conv.wrl }
+	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/wrist2_l.iv b/data/RobotAPI/robots/Armar3b/convexModel/wrist2_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..2ceb2ec0ef603f74ddbd7c9b9dc7e20c3cb2863c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/wrist2_l.iv
@@ -0,0 +1,23 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units {
+            units MILLIMETERS
+    }
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 1.57
+	}
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	} 
+	Separator 
+	{
+		File {name armar/hands/handlink_green_conv.wrl }
+	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/convexModel/wrist2_r.iv b/data/RobotAPI/robots/Armar3b/convexModel/wrist2_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..0ca3c2f74e8453c79e0b8984c5bc801efadd04f2
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/convexModel/wrist2_r.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units {
+        units MILLIMETERS
+    }
+	Transform {
+		rotation 0 1 0 1.57
+	} 
+	Transform {
+		rotation 0 0 1 1.57
+	} 
+	Transform {
+		rotation 0 1 0 1.57
+    } 
+
+	Separator 
+	{
+		File {name armar/hands/handlink_green_conv.wrl }
+	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/eyes/eye.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/eyes/eye.iv
new file mode 100644
index 0000000000000000000000000000000000000000..4005d2bcc9701655b0b2bd5af70710e6db2a45c0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/eyes/eye.iv
@@ -0,0 +1,9581 @@
+#Inventor V1.0 ascii
+
+Separator {
+    ShapeHints {
+        hints    (SOLID | ORDERED | CONVEX)
+    }
+    Units {
+            units MILLIMETERS
+    }
+    Material {
+        diffuseColor    0.0492702 0.212826 0.267677
+    }
+    Separator {
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/eyes/eyes_pitch_link_left.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/eyes/eyes_pitch_link_left.iv
new file mode 100644
index 0000000000000000000000000000000000000000..4c69c0a114856883a90e5b2fcfcb15bc0c77c879
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/eyes/eyes_pitch_link_left.iv
@@ -0,0 +1,1475 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/eyes/eyes_pitch_link_right.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/eyes/eyes_pitch_link_right.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5bbf618375ecc2afc122a28cab7e9e3b4a1ad0cc
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/eyes/eyes_pitch_link_right.iv
@@ -0,0 +1,1475 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/eyes/lid.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/eyes/lid.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ab5fd96ef278c7dc8aaa14f4ee4d3e1edc7cf1ea
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/eyes/lid.iv
@@ -0,0 +1,2695 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/handlink_green.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/handlink_green.iv
new file mode 100644
index 0000000000000000000000000000000000000000..8331696d2519a470d5a9c6555fdc8fc7c9e0c14b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/handlink_green.iv
@@ -0,0 +1,1203 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/handlink_red.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/handlink_red.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ba0de0148e8fa77f64e20eb61535f8af79a0ac64
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/handlink_red.iv
@@ -0,0 +1,1436 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/metacarpals.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/metacarpals.iv
new file mode 100644
index 0000000000000000000000000000000000000000..4800791651e8ef7bc74969422379b92cf0cc082a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/metacarpals.iv
@@ -0,0 +1,2108 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/palm1_l.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/palm1_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..a82ff29233dd000269f89b275a8da271ecde3fc6
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/palm1_l.iv
@@ -0,0 +1,4267 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/palm1_r.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/palm1_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..25d3c3664dbad1e16d8d0cd2ddf65d24be14f05b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/palm1_r.iv
@@ -0,0 +1,4267 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/palm2_l.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/palm2_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..540dc92bdfb18b6a75ef49744481bd48309e43ff
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/palm2_l.iv
@@ -0,0 +1,4359 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/palm2_r.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/palm2_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..2df091827d32de9e452486c61136e50e2ce3c6d1
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/palm2_r.iv
@@ -0,0 +1,4359 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/proximal_index_middle_thumb.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/proximal_index_middle_thumb.iv
new file mode 100644
index 0000000000000000000000000000000000000000..fe7105d9d0d420fa3afe56a0255cdb6ed68aa957
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/proximal_index_middle_thumb.iv
@@ -0,0 +1,2010 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/proximal_pinky.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/proximal_pinky.iv
new file mode 100644
index 0000000000000000000000000000000000000000..229e19227e87c60e6df638eb0696c8728902c9a3
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/proximal_pinky.iv
@@ -0,0 +1,1215 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/proximal_ring.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/proximal_ring.iv
new file mode 100644
index 0000000000000000000000000000000000000000..46ee278564f281a7fdd15d80bd92a4a13080d868
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/hands/proximal_ring.iv
@@ -0,0 +1,1215 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/head/head.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/head/head.iv
new file mode 100644
index 0000000000000000000000000000000000000000..945602a08bb91715820adedb57d984e5fd624659
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/head/head.iv
@@ -0,0 +1,11164 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/head/head_base.wrl b/data/RobotAPI/robots/Armar3b/fullmodel/armar/head/head_base.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..daca4f93ccf607093e7a66d990d5effc23b37e1c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/head/head_base.wrl
@@ -0,0 +1,145 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/head/jaw.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/head/jaw.iv
new file mode 100644
index 0000000000000000000000000000000000000000..d99e61356b41855205f7ac03b2c9ddf9f3216b90
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/head/jaw.iv
@@ -0,0 +1,6541 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/left_arm/elbow_link_l.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/left_arm/elbow_link_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..8ab162a7bc5c8dfb1f8e50d40e11c1df8798ca3a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/left_arm/elbow_link_l.iv
@@ -0,0 +1,1298 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/left_arm/shoulder_l.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/left_arm/shoulder_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..059ac900c84be364360623682aadb82e22c01623
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/left_arm/shoulder_l.iv
@@ -0,0 +1,3407 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/left_arm/shoulder_link_l.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/left_arm/shoulder_link_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..6cc3ac8d7ada78879d359eeac494d785d81e8482
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/left_arm/shoulder_link_l.iv
@@ -0,0 +1,1225 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/left_arm/underarm_l.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/left_arm/underarm_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..fa83a284a9ce6a6e2fe0def5fe2b23ea4ecba51b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/left_arm/underarm_l.iv
@@ -0,0 +1,553 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/left_arm/upperarm_l.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/left_arm/upperarm_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..aa4448cf7c2a0d5473f68a877283dd00728006e5
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/left_arm/upperarm_l.iv
@@ -0,0 +1,3464 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/neck/neck_pitch_link.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/neck/neck_pitch_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..60ecb2f600678c147c78d848eccb844ed1279127
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/neck/neck_pitch_link.iv
@@ -0,0 +1,2880 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/neck/neck_roll_link.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/neck/neck_roll_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..197a76d495f988f344ff9a22a57945051529341f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/neck/neck_roll_link.iv
@@ -0,0 +1,1670 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/neck/neck_yaw_link.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/neck/neck_yaw_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..8821ee89265bbdcfdba67bf148049b36e7e061e9
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/neck/neck_yaw_link.iv
@@ -0,0 +1,4536 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/platform/hd_platform_pitch_link.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/platform/hd_platform_pitch_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..c03e7e6793de935c857060dcb584eb5563cb9d6e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/platform/hd_platform_pitch_link.iv
@@ -0,0 +1,20344 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/platform/hd_platform_roll_link.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/platform/hd_platform_roll_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..40dd134f3a7b786cd82e3cda53ef53c02f32e9ca
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/platform/hd_platform_roll_link.iv
@@ -0,0 +1,16782 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/platform/platform.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/platform/platform.iv
new file mode 100644
index 0000000000000000000000000000000000000000..925076dc9ae24a800548818e6cafbd986e4b98dd
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/platform/platform.iv
@@ -0,0 +1,5872 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/right_arm/shoulder_link_r.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/right_arm/shoulder_link_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..cad080b2aa3bbf159172cf9f86a2cca503567cfc
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/right_arm/shoulder_link_r.iv
@@ -0,0 +1,1225 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/right_arm/shoulder_r.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/right_arm/shoulder_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..fe4128e415492128534416dc5450e17314399375
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/right_arm/shoulder_r.iv
@@ -0,0 +1,2746 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/right_arm/underarm_r.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/right_arm/underarm_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..8e3144cbec1a7e5fe9dde8fc7035fe46ca74a01a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/right_arm/underarm_r.iv
@@ -0,0 +1,554 @@
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/right_arm/upperarm_r.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/right_arm/upperarm_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..0cb1611ab809954f443d6f03ba43145c565ea730
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/right_arm/upperarm_r.iv
@@ -0,0 +1,3464 @@
+#Inventor V1.0 ascii
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diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/torso/hd_torso.iv b/data/RobotAPI/robots/Armar3b/fullmodel/armar/torso/hd_torso.iv
new file mode 100644
index 0000000000000000000000000000000000000000..75a56ce62a2313bee0f24df700198cdaf8af68bc
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/torso/hd_torso.iv
@@ -0,0 +1,22548 @@
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+        }
+    }
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/armar/torso/hd_torso2.wrl b/data/RobotAPI/robots/Armar3b/fullmodel/armar/torso/hd_torso2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..64d9346e887476dcdedba86f15f4ffd98a204f34
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/armar/torso/hd_torso2.wrl
@@ -0,0 +1,1532 @@
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+          1720,1722,1741,-1, 1742,1741,1744,-1, 1722,1745,1743,-1, 1746,1743,1745,-1, 1744,1743,1746,-1, 1724,1747,1745,-1, 
+          1748,1745,1747,-1, 1722,1724,1745,-1, 1746,1745,1748,-1, 1728,1749,1747,-1, 1750,1747,1749,-1, 1726,1728,1747,-1, 
+          1724,1726,1747,-1, 1748,1747,1750,-1, 1730,1751,1749,-1, 1752,1749,1751,-1, 1728,1730,1749,-1, 1750,1749,1752,-1, 
+          1732,1753,1751,-1, 1754,1751,1753,-1, 1730,1732,1751,-1, 1752,1751,1754,-1, 1734,1755,1753,-1, 1756,1753,1755,-1, 
+          1732,1734,1753,-1, 1754,1753,1756,-1, 1734,1757,1755,-1, 1758,1755,1757,-1, 1756,1755,1758,-1, 1735,1739,1757,-1, 
+          1759,1757,1739,-1, 1734,1735,1757,-1, 1758,1757,1759,-1, 1716,1714,1739,-1, 1735,1716,1739,-1, 1759,1739,1740,-1, 
+          1742,1760,1761,-1, 1762,1761,1760,-1, 1738,1761,1763,-1, 1764,1763,1761,-1, 1742,1761,1738,-1, 1764,1761,1762,-1, 
+          1744,1765,1760,-1, 1766,1760,1765,-1, 1742,1744,1760,-1, 1766,1762,1760,-1, 1746,1767,1765,-1, 1768,1765,1767,-1, 
+          1744,1746,1765,-1, 1766,1765,1768,-1, 1746,1769,1767,-1, 1770,1767,1769,-1, 1768,1767,1770,-1, 1748,1771,1769,-1, 
+          1772,1769,1771,-1, 1746,1748,1769,-1, 1770,1769,1772,-1, 1752,1773,1771,-1, 1774,1771,1773,-1, 1750,1752,1771,-1, 
+          1748,1750,1771,-1, 1772,1771,1774,-1, 1754,1775,1773,-1, 1776,1773,1775,-1, 1752,1754,1773,-1, 1774,1773,1776,-1, 
+          1756,1777,1775,-1, 1778,1775,1777,-1, 1754,1756,1775,-1, 1776,1775,1778,-1, 1758,1779,1777,-1, 1780,1777,1779,-1, 
+          1756,1758,1777,-1, 1778,1777,1780,-1, 1758,1781,1779,-1, 1782,1779,1781,-1, 1780,1779,1782,-1, 1759,1763,1781,-1, 
+          1783,1781,1763,-1, 1758,1759,1781,-1, 1782,1781,1783,-1, 1740,1738,1763,-1, 1759,1740,1763,-1, 1783,1763,1764,-1, 
+          1766,1784,1785,-1, 1786,1785,1784,-1, 1762,1785,1787,-1, 1788,1787,1785,-1, 1766,1785,1762,-1, 1788,1785,1786,-1, 
+          1768,1789,1784,-1, 1790,1784,1789,-1, 1766,1768,1784,-1, 1790,1786,1784,-1, 1791,1792,1789,-1, 1793,1789,1792,-1, 
+          1770,1791,1789,-1, 1768,1770,1789,-1, 1790,1789,1793,-1, 1794,1792,1791,-1, 1793,1792,1794,-1, 1770,1795,1791,-1, 
+          1796,1791,1795,-1, 1794,1791,1796,-1, 1774,1797,1795,-1, 1798,1795,1797,-1, 1772,1774,1795,-1, 1770,1772,1795,-1, 
+          1796,1795,1798,-1, 1776,1799,1797,-1, 1800,1797,1799,-1, 1774,1776,1797,-1, 1798,1797,1800,-1, 1778,1801,1799,-1, 
+          1802,1799,1801,-1, 1776,1778,1799,-1, 1800,1799,1802,-1, 1780,1803,1801,-1, 1804,1801,1803,-1, 1778,1780,1801,-1, 
+          1802,1801,1804,-1, 1805,1806,1803,-1, 1807,1803,1806,-1, 1782,1805,1803,-1, 1780,1782,1803,-1, 1804,1803,1807,-1, 
+          1808,1806,1805,-1, 1807,1806,1808,-1, 1782,1809,1805,-1, 1810,1805,1809,-1, 1808,1805,1810,-1, 1764,1787,1809,-1, 
+          1811,1809,1787,-1, 1783,1764,1809,-1, 1782,1783,1809,-1, 1810,1809,1811,-1, 1764,1762,1787,-1, 1811,1787,1788,-1, 
+          1790,1812,1813,-1, 1814,1813,1812,-1, 1786,1813,1815,-1, 1816,1815,1813,-1, 1790,1813,1786,-1, 1816,1813,1814,-1, 
+          1794,1817,1812,-1, 1818,1812,1817,-1, 1793,1794,1812,-1, 1790,1793,1812,-1, 1818,1814,1812,-1, 1819,1820,1817,-1, 
+          1821,1817,1820,-1, 1822,1819,1817,-1, 1794,1822,1817,-1, 1818,1817,1821,-1, 1819,1823,1820,-1, 1824,1820,1823,-1, 
+          1821,1820,1824,-1, 1825,1823,1819,-1, 1824,1823,1825,-1, 1826,1819,1822,-1, 1825,1819,1826,-1, 1798,1827,1822,-1, 
+          1828,1822,1827,-1, 1796,1798,1822,-1, 1794,1796,1822,-1, 1826,1822,1828,-1, 1802,1829,1827,-1, 1830,1827,1829,-1, 
+          1800,1802,1827,-1, 1798,1800,1827,-1, 1828,1827,1830,-1, 1804,1831,1829,-1, 1832,1829,1831,-1, 1802,1804,1829,-1, 
+          1830,1829,1832,-1, 1808,1833,1831,-1, 1834,1831,1833,-1, 1807,1808,1831,-1, 1804,1807,1831,-1, 1832,1831,1834,-1, 
+          1835,1836,1833,-1, 1837,1833,1836,-1, 1838,1835,1833,-1, 1808,1838,1833,-1, 1834,1833,1837,-1, 1835,1839,1836,-1, 
+          1840,1836,1839,-1, 1837,1836,1840,-1, 1841,1839,1835,-1, 1840,1839,1841,-1, 1842,1835,1838,-1, 1841,1835,1842,-1, 
+          1811,1815,1838,-1, 1843,1838,1815,-1, 1810,1811,1838,-1, 1808,1810,1838,-1, 1842,1838,1843,-1, 1788,1786,1815,-1, 
+          1811,1788,1815,-1, 1843,1815,1816,-1, 1818,1655,1654,-1, 1814,1654,1656,-1, 1818,1654,1814,-1, 1818,1667,1655,-1, 
+          1821,1666,1667,-1, 1818,1821,1667,-1, 1830,1665,1666,-1, 1821,1830,1666,-1, 1830,1663,1665,-1, 1832,1662,1663,-1, 
+          1830,1832,1663,-1, 1834,1661,1662,-1, 1832,1834,1662,-1, 1834,1660,1661,-1, 1837,1659,1660,-1, 1834,1837,1660,-1, 
+          1816,1658,1659,-1, 1837,1816,1659,-1, 1816,1656,1658,-1, 1816,1814,1656,-1, 1837,1843,1816,-1, 1840,1842,1843,-1, 
+          1837,1840,1843,-1, 1840,1841,1842,-1, 1821,1828,1830,-1, 1824,1826,1828,-1, 1821,1824,1828,-1, 1824,1825,1826,-1
+        ]
+      }
+      appearance Appearance
+      {
+        material Material
+        {
+	       ambientIntensity 0.2
+	       diffuseColor 0.9 0.9 0.9
+	       specularColor .1 .1 .1
+	       shininess .5
+        }
+      }
+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/elbow_l.iv b/data/RobotAPI/robots/Armar3b/fullmodel/elbow_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ad3d7349062caae6eea99ebc4f096d985bf78de2
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/elbow_l.iv
@@ -0,0 +1,35 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units {
+            units MILLIMETERS
+    }
+
+ Transform {
+	translation 0 0 0
+	rotation 1 0 0 -1.57
+  }
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	} 
+ 
+	Transform {
+		#translation 0 0 0
+		rotation 0 1 0 3.14
+	} 
+        ## Kinematics 5.0 <-> armar model: 7.5
+	## Model of elbow is fixed to upperarm -> use offset, so transformations of kinematics have no effect
+#	Transform {
+#		translation 7.5 0 0 
+#		rotation 1 0 0 -0.07616814813524509
+#	} 
+	Transform {
+		translation 7.5 0 0
+		rotation 0 0 0 0 
+	} 
+#	File {name armar/hands/axis_arrows.iv }
+    	File { 
+      		name "armar/left_arm/elbow_link_l.iv"
+    	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/elbow_r.iv b/data/RobotAPI/robots/Armar3b/fullmodel/elbow_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..710f51ae9de188c5a384841a0829947554144abf
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/elbow_r.iv
@@ -0,0 +1,30 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units {
+            units MILLIMETERS
+    }
+
+ Transform {
+	translation 0 0 0
+	rotation 1 0 0 1.57
+  }
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 1.57
+	} 
+        ## Kinematics 5.0 <-> armar model: 7.5
+	## Model of elbow is fixed to upperarm -> use offset, so transformations of kinematics have no effect
+#	Transform {
+#		translation 7.5 0 0 
+#		rotation 1 0 0 -0.07616814813524509
+#	} 
+	Transform {
+		translation 7.5 0 0
+		rotation 0 0 0 0 
+	} 
+#	File {name armar/hands/axis_arrows.iv }
+    	File { 
+      		name "armar/left_arm/elbow_link_l.iv"
+    	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/eye_l.iv b/data/RobotAPI/robots/Armar3b/fullmodel/eye_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5df57b2eae4774b2ab640eae55cd307d579aabc0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/eye_l.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		rotation 0 1 0 1.57
+	}
+
+	Transform {
+		rotation 0 0 1 1.57
+	}
+
+	File { 
+	  name "armar/eyes/eye.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/eye_link_l.iv b/data/RobotAPI/robots/Armar3b/fullmodel/eye_link_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..8ec3c25ef28e6090eac76046700d629af1dce75e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/eye_link_l.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator { 
+
+	Transform {
+		rotation 0 1 0 1.57
+	}
+
+	Transform {
+		rotation 1 0 0 1.57
+	}
+
+	File { 
+		name "armar/eyes/eyes_pitch_link_left.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/eye_link_r.iv b/data/RobotAPI/robots/Armar3b/fullmodel/eye_link_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5aef77b4bd7fc28d302e638b4fa0d368fc2d805f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/eye_link_r.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		rotation 0 1 0 1.57
+	}
+
+	Transform {
+		rotation 1 0 0 1.57
+	}
+
+	File { 
+	  name "armar/eyes/eyes_pitch_link_right.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/eye_r.iv b/data/RobotAPI/robots/Armar3b/fullmodel/eye_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5df57b2eae4774b2ab640eae55cd307d579aabc0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/eye_r.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		rotation 0 1 0 1.57
+	}
+
+	Transform {
+		rotation 0 0 1 1.57
+	}
+
+	File { 
+	  name "armar/eyes/eye.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/head.iv b/data/RobotAPI/robots/Armar3b/fullmodel/head.iv
new file mode 100644
index 0000000000000000000000000000000000000000..6527ea098aa8ab01a82add6f4aa2fd1b9878d0c4
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/head.iv
@@ -0,0 +1,12 @@
+#Inventor V2.1 ascii
+
+Separator { 
+
+	Transform {
+		rotation 0 1 0 1.57
+	}
+
+	File { 
+		name "armar/head/head.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/head_base.iv b/data/RobotAPI/robots/Armar3b/fullmodel/head_base.iv
new file mode 100644
index 0000000000000000000000000000000000000000..4d61ea7b5ca29e1af5cabf16ed4aab7bcc7aeb77
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/head_base.iv
@@ -0,0 +1,19 @@
+#Inventor V2.1 ascii
+
+Separator {
+    SoUnits
+    { 
+        units MILLIMETERS
+    }
+    Transform {
+		translation -35 0 -605
+	}
+    RotationXYZ{
+      axis Z
+      angle 3.14
+    }
+    
+    File { 
+      name "armar/head/head_base.wrl"
+    }
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/index_l1.iv b/data/RobotAPI/robots/Armar3b/fullmodel/index_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b183bc5ab7f6d47adc995317b5d0c5187e0acb5e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/index_l1.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	}
+
+	Separator 
+	{
+		File {name armar/hands/metacarpals.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/index_l2.iv b/data/RobotAPI/robots/Armar3b/fullmodel/index_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..176a62121362a034d0d1b559788d381db31bf678
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/index_l2.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	} 
+	Separator 
+	{
+		File {name armar/hands/proximal_index_middle_thumb.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/index_r1.iv b/data/RobotAPI/robots/Armar3b/fullmodel/index_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b183bc5ab7f6d47adc995317b5d0c5187e0acb5e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/index_r1.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	}
+
+	Separator 
+	{
+		File {name armar/hands/metacarpals.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/index_r2.iv b/data/RobotAPI/robots/Armar3b/fullmodel/index_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..695d4bd7dedb74de276a2c8f377346a6d26b23f7
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/index_r2.iv
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	} 
+
+	Separator 
+	{
+		File {name armar/hands/proximal_index_middle_thumb.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/jaw.iv b/data/RobotAPI/robots/Armar3b/fullmodel/jaw.iv
new file mode 100644
index 0000000000000000000000000000000000000000..a6cd0a5319271bf01eb7f327b1ac5ab7ff3751e0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/jaw.iv
@@ -0,0 +1,20 @@
+#Inventor V2.1 ascii
+
+Separator { 
+
+    Units {
+            units MILLIMETERS
+    }
+	Transform {
+		translation 0 10 0 
+		rotation 0 0 1 1.57
+	}
+
+	Transform {
+		rotation 0 1 0 -1.57
+	}
+
+	File { 
+		name "armar/head/jaw.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/lid_l_bottom.iv b/data/RobotAPI/robots/Armar3b/fullmodel/lid_l_bottom.iv
new file mode 100644
index 0000000000000000000000000000000000000000..fee6dbbbc050aba14dccd2977e038c56c95f1e6a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/lid_l_bottom.iv
@@ -0,0 +1,11 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Transform {
+		translation 0 0 0
+		rotation 0 1 0 -0.87
+	} 
+	File { 
+		name "armar/eyes/lid.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/lid_l_top.iv b/data/RobotAPI/robots/Armar3b/fullmodel/lid_l_top.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b3cbbaed2c7dfbb0e4787964dd903c830fed993a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/lid_l_top.iv
@@ -0,0 +1,11 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Transform {
+		translation 0 0 0
+		rotation 0 1 0 -2.44
+	} 
+	File { 
+		name "armar/eyes/lid.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/lid_r_bottom.iv b/data/RobotAPI/robots/Armar3b/fullmodel/lid_r_bottom.iv
new file mode 100644
index 0000000000000000000000000000000000000000..fee6dbbbc050aba14dccd2977e038c56c95f1e6a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/lid_r_bottom.iv
@@ -0,0 +1,11 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Transform {
+		translation 0 0 0
+		rotation 0 1 0 -0.87
+	} 
+	File { 
+		name "armar/eyes/lid.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/lid_r_top.iv b/data/RobotAPI/robots/Armar3b/fullmodel/lid_r_top.iv
new file mode 100644
index 0000000000000000000000000000000000000000..9e55171a4ab2695f4a37127c60f9b6f5f80769e1
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/lid_r_top.iv
@@ -0,0 +1,12 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Transform {
+		translation 0 0 0
+		rotation 0 1 0 -2.44
+	} 
+
+	File { 
+		name "armar/eyes/lid.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/middle_l1.iv b/data/RobotAPI/robots/Armar3b/fullmodel/middle_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b183bc5ab7f6d47adc995317b5d0c5187e0acb5e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/middle_l1.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	}
+
+	Separator 
+	{
+		File {name armar/hands/metacarpals.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/middle_l2.iv b/data/RobotAPI/robots/Armar3b/fullmodel/middle_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..695d4bd7dedb74de276a2c8f377346a6d26b23f7
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/middle_l2.iv
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	} 
+
+	Separator 
+	{
+		File {name armar/hands/proximal_index_middle_thumb.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/middle_r1.iv b/data/RobotAPI/robots/Armar3b/fullmodel/middle_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b183bc5ab7f6d47adc995317b5d0c5187e0acb5e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/middle_r1.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	}
+
+	Separator 
+	{
+		File {name armar/hands/metacarpals.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/middle_r2.iv b/data/RobotAPI/robots/Armar3b/fullmodel/middle_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..176a62121362a034d0d1b559788d381db31bf678
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/middle_r2.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	} 
+	Separator 
+	{
+		File {name armar/hands/proximal_index_middle_thumb.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/neck_pitch_link.iv b/data/RobotAPI/robots/Armar3b/fullmodel/neck_pitch_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..237445f2b1da9cd2e7311d6fe6ca50f1abdef60c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/neck_pitch_link.iv
@@ -0,0 +1,15 @@
+#Inventor V2.1 ascii
+
+Separator { 
+	Transform {
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		rotation 1 0 0 -1.57
+	}
+
+
+	File { 
+	  name "armar/neck/neck_pitch_link.iv"
+	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/neck_roll_link.iv b/data/RobotAPI/robots/Armar3b/fullmodel/neck_roll_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..4e2ae6db9eec0d30223ada356ee93e444fb01bc2
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/neck_roll_link.iv
@@ -0,0 +1,14 @@
+#Inventor V2.1 ascii
+
+Separator { 
+	Transform {
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		rotation 0 1 0 -1.57
+	}
+
+	File { 
+		name "armar/neck/neck_yaw_link.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/neck_yaw_link.iv b/data/RobotAPI/robots/Armar3b/fullmodel/neck_yaw_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ab3875f0aa57811e5a5d82470b5e40ce7b474273
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/neck_yaw_link.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator { 
+
+	Transform {
+		rotation 0 1 0 3.14
+	}
+
+	Transform {
+		rotation 0 0 1 1.57
+	}
+
+	File { 
+		name "armar/neck/neck_roll_link.iv"
+	}
+} 
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/palm1_l.iv b/data/RobotAPI/robots/Armar3b/fullmodel/palm1_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..a568672fda16bccd8c40d0d67c0c7f7cd0117f8e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/palm1_l.iv
@@ -0,0 +1,14 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		translation 0 0 0
+		rotation 0 0 -1 1.57
+	} 
+
+	Separator 
+	{
+		File {name armar/hands/palm1_l.iv }
+	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/palm1_r.iv b/data/RobotAPI/robots/Armar3b/fullmodel/palm1_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..26bd093ce0fe42ca29d0ea31ce7ec6afd5c79a30
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/palm1_r.iv
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		translation 0 0 0
+		rotation 0 0 -1 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 3.1415
+	} 
+
+	Separator 
+	{
+		File {name armar/hands/palm1_r.iv }
+	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/palm2_l.iv b/data/RobotAPI/robots/Armar3b/fullmodel/palm2_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..dbdb1c8a987cb1d9f7dd9cb39b65f769b63d7073
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/palm2_l.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		translation 0 0 0
+		rotation 0 0 -1 1.57
+	} 
+	Transform {
+		rotation 0 1 0 1.57
+	} 
+
+	Separator 
+	{
+		File {name armar/hands/palm2_l.iv }
+	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/palm2_r.iv b/data/RobotAPI/robots/Armar3b/fullmodel/palm2_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..3f7e826e1f305241a7ccf99c70f16992c4d88eb5
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/palm2_r.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		translation 0 0 0
+		rotation 0 0 -1 1.57
+	} 
+	Transform {
+		rotation 0 1 0 -1.57
+	} 
+
+	Separator 
+	{
+		File {name armar/hands/palm2_r.iv }
+	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/pinky_l1.iv b/data/RobotAPI/robots/Armar3b/fullmodel/pinky_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b183bc5ab7f6d47adc995317b5d0c5187e0acb5e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/pinky_l1.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	}
+
+	Separator 
+	{
+		File {name armar/hands/metacarpals.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/pinky_l2.iv b/data/RobotAPI/robots/Armar3b/fullmodel/pinky_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..05c1d220c06c592f6c81c64c05265f0abfcea07e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/pinky_l2.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	} 
+	Separator 
+	{
+		File {name armar/hands/proximal_pinky.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/pinky_r1.iv b/data/RobotAPI/robots/Armar3b/fullmodel/pinky_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b183bc5ab7f6d47adc995317b5d0c5187e0acb5e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/pinky_r1.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	}
+
+	Separator 
+	{
+		File {name armar/hands/metacarpals.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/pinky_r2.iv b/data/RobotAPI/robots/Armar3b/fullmodel/pinky_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..05c1d220c06c592f6c81c64c05265f0abfcea07e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/pinky_r2.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	} 
+	Separator 
+	{
+		File {name armar/hands/proximal_pinky.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/platform.iv b/data/RobotAPI/robots/Armar3b/fullmodel/platform.iv
new file mode 100644
index 0000000000000000000000000000000000000000..2cc73bb1aabc6e4fbdb9ec1d79ac0681ef16feda
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/platform.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator { #Model
+
+ RotationXYZ {
+   axis X
+   angle 1.57
+   }
+ RotationXYZ{
+ 	axis Z
+	angle -1.57
+ }
+ File { 
+  name "armar/platform/platform.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/platform_pitch_link.iv b/data/RobotAPI/robots/Armar3b/fullmodel/platform_pitch_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..8d997bc117be3266d3553b8a3e633bac3af47696
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/platform_pitch_link.iv
@@ -0,0 +1,12 @@
+#Inventor V2.1 ascii
+
+Separator { #Model
+RotationXYZ{
+ 	axis Z
+	angle 1.57
+ }
+
+ File { 
+  name "armar/platform/hd_platform_pitch_link.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/platform_roll_link.iv b/data/RobotAPI/robots/Armar3b/fullmodel/platform_roll_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..9e8e96625a7ebe87015c116ef66bedc27d9baebc
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/platform_roll_link.iv
@@ -0,0 +1,24 @@
+#Inventor V2.1 ascii
+
+Separator { #Model
+    Units {
+            units MILLIMETERS
+    }
+RotationXYZ{
+  axis Z
+  angle 1.57
+}
+Transform{
+translation	0 0 127
+}
+Transform {
+  rotation 0 1 0 3.1415
+}
+Transform {
+  rotation 0 0 1 -1.57
+}
+#File {name armar/hands/axis_arrows.iv }
+ File { 
+  name "armar/platform/hd_platform_roll_link.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/ring_l1.iv b/data/RobotAPI/robots/Armar3b/fullmodel/ring_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b183bc5ab7f6d47adc995317b5d0c5187e0acb5e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/ring_l1.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	}
+
+	Separator 
+	{
+		File {name armar/hands/metacarpals.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/ring_l2.iv b/data/RobotAPI/robots/Armar3b/fullmodel/ring_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..6874df6da94609201faa33b12ec4ca4488db9a97
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/ring_l2.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	} 
+	Separator 
+	{
+		File {name armar/hands/proximal_ring.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/ring_r1.iv b/data/RobotAPI/robots/Armar3b/fullmodel/ring_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b183bc5ab7f6d47adc995317b5d0c5187e0acb5e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/ring_r1.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	}
+
+	Separator 
+	{
+		File {name armar/hands/metacarpals.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/ring_r2.iv b/data/RobotAPI/robots/Armar3b/fullmodel/ring_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..e452991409d1001847c7f3e8458a1ed34c6f92a2
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/ring_r2.iv
@@ -0,0 +1,19 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 -1.57
+	} 
+
+
+	Separator 
+	{
+		File {name armar/hands/proximal_ring.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/shoulder2_l_rot.iv b/data/RobotAPI/robots/Armar3b/fullmodel/shoulder2_l_rot.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ece59e1732f61046f32e1da749e8fa257dacf44e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/shoulder2_l_rot.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+Separator {
+
+  Transform {
+	translation 0 0 0
+	rotation 0 0 1  1.57
+  }
+  Transform {
+	translation 0 0 0
+  rotation 0 0 1 1.57  
+  }
+    	File { 
+      		name "armar/left_arm/shoulder_link_l.iv"
+    	}
+
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/shoulder2_r_rot.iv b/data/RobotAPI/robots/Armar3b/fullmodel/shoulder2_r_rot.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b13e4cec80d06e8dd553bc783c3486cdf3c082f0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/shoulder2_r_rot.iv
@@ -0,0 +1,20 @@
+#Inventor V2.1 ascii
+Separator {
+
+  Transform {
+	translation 0 0 0
+	rotation 0 0 1  -1.57
+  }
+  Transform {
+	translation 0 0 0
+	rotation 0 1 0 3.14
+}
+  Transform {
+	translation 0 0 0
+	rotation 0 0 1  1.57
+  }
+    	File { 
+      		name "armar/right_arm/shoulder_link_r.iv"
+    	}
+
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/shoulder_l.iv b/data/RobotAPI/robots/Armar3b/fullmodel/shoulder_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..87a070db83d010019ff2598f386f30a25da0121a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/shoulder_l.iv
@@ -0,0 +1,24 @@
+#Inventor V2.1 ascii
+Separator {
+
+    Units {
+            units MILLIMETERS
+    }
+  Transform {
+	translation 0 0 0
+	rotation 0 0 1 -1.57
+  }
+
+  Transform {
+	translation 0 0 -110
+	rotation 0 0 0 0
+  }
+  Transform {
+	translation 0 0 0
+	rotation 0 1 0 -1.57
+  } 
+#  File {name armar/hands/axis_arrows.iv }
+  File { 
+	name "armar/left_arm/shoulder_l.iv"
+  }
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/shoulder_r.iv b/data/RobotAPI/robots/Armar3b/fullmodel/shoulder_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..3723f8148b286f5e30868bb23c3fa8cee2a25e3b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/shoulder_r.iv
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+Separator {
+    Units {
+            units MILLIMETERS
+    }
+  Transform {
+	translation 0 0 0
+	rotation 0 0 1 1.57
+  }
+  Transform {
+	translation 0 0 0
+	rotation 0 1 0 3.14
+  }
+  Transform {
+	translation 0 0 -110
+	rotation 0 0 0 0
+  }
+ 
+  File { 
+	name "armar/right_arm/shoulder_r.iv"
+  }
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/thumb_l1.iv b/data/RobotAPI/robots/Armar3b/fullmodel/thumb_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..09b5f121e0eec2a26c9f529f2632d9d824fa6559
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/thumb_l1.iv
@@ -0,0 +1,12 @@
+#Inventor V2.1 ascii
+
+Separator {
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 -1.57
+	}	
+	Separator 
+	{
+		File {name armar/hands/metacarpals.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/thumb_l2.iv b/data/RobotAPI/robots/Armar3b/fullmodel/thumb_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..67212f9eea5a52619381380f4544a9b1dc20915f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/thumb_l2.iv
@@ -0,0 +1,13 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 -1.57
+	} 
+	Separator 
+	{
+		File {name armar/hands/proximal_index_middle_thumb.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/thumb_r1.iv b/data/RobotAPI/robots/Armar3b/fullmodel/thumb_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..09b5f121e0eec2a26c9f529f2632d9d824fa6559
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/thumb_r1.iv
@@ -0,0 +1,12 @@
+#Inventor V2.1 ascii
+
+Separator {
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 -1.57
+	}	
+	Separator 
+	{
+		File {name armar/hands/metacarpals.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/thumb_r2.iv b/data/RobotAPI/robots/Armar3b/fullmodel/thumb_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..6301183b6a19ace4a20fde4994f07bbf6508f78f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/thumb_r2.iv
@@ -0,0 +1,15 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ 
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 -1.57
+	} 
+
+	Separator 
+	{
+		File {name armar/hands/proximal_index_middle_thumb.iv }
+	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/torso.iv b/data/RobotAPI/robots/Armar3b/fullmodel/torso.iv
new file mode 100644
index 0000000000000000000000000000000000000000..8cacfbbc8ab0fb4d611e317d55c80a798fa9dfec
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/torso.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+Separator { #Model
+
+    SoUnits
+    { 
+        units MILLIMETERS
+    }
+    RotationXYZ{
+      axis Z
+      angle 1.57
+    }
+    
+    File { 
+      name "armar/torso/hd_torso2.wrl"
+    }
+} #Model
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/underarm_l.iv b/data/RobotAPI/robots/Armar3b/fullmodel/underarm_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b0edaade4fbaeacd90c9424eecc221f90dc7e7bd
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/underarm_l.iv
@@ -0,0 +1,23 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units {
+            units MILLIMETERS
+    }
+	Transform {
+		translation 0 0 -46.5
+		rotation 0 0 0 0 
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 3.14
+	}
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 1.57
+	}
+
+   	File { 
+      		name "armar/left_arm/underarm_l.iv"
+    	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/underarm_r.iv b/data/RobotAPI/robots/Armar3b/fullmodel/underarm_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..2199eaf119c0d19b40a2cef82fc3ca6fa011c0b3
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/underarm_r.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+    Units {
+            units MILLIMETERS
+    }
+
+	Transform {
+		translation 0 0 -46.5
+		rotation 0 0 0 0 
+	}
+	
+		Transform {
+		translation 0 0 0
+		rotation 0 0 1 1.57
+	}
+
+   	File { 
+      		name "armar/right_arm/underarm_r.iv"
+    	}
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/upperarm_l.iv b/data/RobotAPI/robots/Armar3b/fullmodel/upperarm_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..25d665f810b5932cb024b6e2b9f55b492f75c06a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/upperarm_l.iv
@@ -0,0 +1,19 @@
+#Inventor V2.1 ascii
+Separator {
+    Units {
+            units MILLIMETERS
+    }
+
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 -1.57
+	}
+
+	Transform {
+		translation -25.3 0 0 
+	}
+# File {name armar/hands/axis_arrows.iv }
+    	File { 
+      		name "armar/left_arm/upperarm_l.iv"
+    	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/upperarm_r.iv b/data/RobotAPI/robots/Armar3b/fullmodel/upperarm_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b0da9cd8ab84e8e17457b656ce2793258c36f279
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/upperarm_r.iv
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+Separator {
+    Units {
+            units MILLIMETERS
+    }
+
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 -1.57
+	}
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 3.14
+	}
+	Transform {
+		translation -25.3 0 0 
+	}
+# File {name armar/hands/axis_arrows.iv }
+    	File { 
+      		name "armar/right_arm/upperarm_r.iv"
+    	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/wrist1_l.iv b/data/RobotAPI/robots/Armar3b/fullmodel/wrist1_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..7da3fd6bd90e07b945cf6b976b7e649fced49107
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/wrist1_l.iv
@@ -0,0 +1,14 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	} 
+
+	Separator 
+	{
+		File {name armar/hands/handlink_red.iv }
+	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/wrist1_r.iv b/data/RobotAPI/robots/Armar3b/fullmodel/wrist1_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ada4c2c446ced721414425b84216164381259677
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/wrist1_r.iv
@@ -0,0 +1,24 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+#File {name armar/hands/axis_arrows.iv }
+
+
+	Separator 
+	{
+		File {name armar/hands/handlink_red.iv }
+	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/wrist2_l.iv b/data/RobotAPI/robots/Armar3b/fullmodel/wrist2_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..60ecde4082d335b567228747aa4ce4123d2a0c87
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/wrist2_l.iv
@@ -0,0 +1,25 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 1.57
+	}
+	Transform {
+		translation 0 0 0
+		rotation 1 0 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	} 
+	 
+#File {name armar/hands/axis_arrows.iv }
+
+
+	Separator 
+	{
+		File {name armar/hands/handlink_green.iv }
+	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/fullmodel/wrist2_r.iv b/data/RobotAPI/robots/Armar3b/fullmodel/wrist2_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ba755a841f73dcc16ac4b2884e175ee86bc36105
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/fullmodel/wrist2_r.iv
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+	Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+	} 
+	Transform {
+		translation 0 0 0
+		rotation 0 0 1 1.57
+	} 
+		Transform {
+		translation 0 0 0
+		rotation 0 1 0 1.57
+} 
+
+	Separator 
+	{
+		File {name armar/hands/handlink_green.iv }
+	}
+}
diff --git a/data/RobotAPI/robots/Armar3b/iv_primitives/cyl1.wrl b/data/RobotAPI/robots/Armar3b/iv_primitives/cyl1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..48957094e70a16fcd576592cb97338bea7f3dcba
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/iv_primitives/cyl1.wrl
@@ -0,0 +1,21 @@
+#VRML V2.0 utf8
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 0.001 0.001 0.001 # mm -> m
+  translation 0 0 0
+  children
+  [
+    Shape {
+        appearance Appearance {
+            material Material { }
+        }
+        geometry Cylinder {
+            height 60
+            radius 20
+        }
+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3b/iv_primitives/cyl2.wrl b/data/RobotAPI/robots/Armar3b/iv_primitives/cyl2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..59f24c981457f4a27aaa4f52fb5ca44423ab86c7
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3b/iv_primitives/cyl2.wrl
@@ -0,0 +1,22 @@
+#VRML V2.0 utf8
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 0.001 0.001 0.001 # mm -> m
+  translation 0 0 0
+  rotation 1 0 0 1.57
+  children
+  [
+    Shape {
+        appearance Appearance {
+            material Material { }
+        }
+        geometry Cylinder {
+            height 30
+            radius 10
+        }
+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/MMM/mmm.xml b/data/RobotAPI/robots/MMM/mmm.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a5a3c701973044f52ddeea22ee7540e0e2b8a22c
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/mmm.xml
@@ -0,0 +1,3474 @@
+<?xml version='1.0' encoding='UTF-8'?>
+
+<Robot Type='MMM' RootNode='root_joint'>
+
+	<RobotNode name='BLNsegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='22' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='0' z='1'/>
+			<limits lo='0' hi='22' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Sensor type='position' name='MARKER_C7'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='0' />
+					<row2 c1='0' c2='1' c3='0' c4='-38.9454' />
+					<row3 c1='0' c2='0' c3='1' c4='-0.688374' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+                                </Matrix4x4>BLNsegment_joint
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_CLAV'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-0.205368' />
+					<row2 c1='0' c2='1' c3='0' c4='51.8562' />
+					<row3 c1='0' c2='0' c3='1' c4='-16.0151' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='BLNx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='BLNx_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='-0.785398' hi='0.261799' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='BLNz_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='BLNy_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-0.349066' hi='0.349066' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='BUNsegment_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='BLNz_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='0' z='1'/>
+			<limits lo='-0.261799' hi='0.261799' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='BLNy_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='BPSegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='40' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='0' z='1'/>
+			<limits lo='0' hi='40' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Physics>
+			<Mass unit='kg' value='0.11'/>
+			<CoM location='Custom' x='0' y='3.33729e-08' z='-35.8'/>
+			<InertiaMatrix>
+					<row1 c1='0.000454' c2='0' c3='0'/>
+					<row2 c1='0' c2='0.0003637' c3='0'/>
+					<row3 c1='0' c2='0' c3='0.0004191'/>
+			</InertiaMatrix>
+		</Physics>
+		<Sensor type='position' name='MARKER_L3'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='0' />
+					<row2 c1='0' c2='1' c3='0' c4='-50' />
+					<row3 c1='0' c2='0' c3='1' c4='22.278' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='BPx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='BPx_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='-0.872665' hi='0.610865' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='BPz_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='BPy_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-0.349066' hi='0.349066' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='BTSegment_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='BPz_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='0' z='1'/>
+			<limits lo='-0.785398' hi='0.785398' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+                <CollisionModel>
+                    <Primitives>
+                        <Box width="10" height="10" depth="10"/>
+                    </Primitives>
+                </CollisionModel>
+		<Child name='BPy_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='BTSegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='60' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='0' z='1'/>
+			<limits lo='0' hi='60' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Physics>
+			<Mass unit='kg' value='0.1'/>
+			<CoM location='Custom' x='0' y='3.33729e-08' z='-33.6'/>
+			<InertiaMatrix>
+					<row1 c1='1.024' c2='0' c3='0'/>
+					<row2 c1='0' c2='0.81796' c3='0'/>
+					<row3 c1='0' c2='0' c3='0.676'/>
+			</InertiaMatrix>
+		</Physics>
+		<Visualization>
+			<File type='inventor'>./models/BTSegment_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='BTx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='BTx_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='-0.610865' hi='0.471239' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='BTz_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='BTy_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-0.349066' hi='0.349066' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='collarSegment_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='BTz_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='0' z='1'/>
+			<limits lo='-0.628319' hi='0.628319' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='BTy_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='BUNsegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='30' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='0' z='1'/>
+			<limits lo='0' hi='30' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Physics>
+			<Mass unit='kg' value='0.024'/>
+			<CoM location='Custom' x='0' y='3.33729e-08' z='-15'/>
+			<InertiaMatrix>
+					<row1 c1='0.0287585' c2='0' c3='0'/>
+					<row2 c1='0' c2='0.0287585' c3='0'/>
+					<row3 c1='0' c2='0' c3='0.0139392'/>
+			</InertiaMatrix>
+		</Physics>
+		<Visualization>
+			<File type='inventor'>./models/BUNsegment_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='BUNx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='BUNx_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='-0.349066' hi='0.523599' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='BUNz_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='BUNy_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-0.261799' hi='0.261799' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='MidHeadSegment_joint'/>
+		<Child name='HeadSegment_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='BUNz_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='0' z='1'/>
+			<limits lo='-0.349066' hi='0.349066' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='BUNy_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='HeadSegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='130' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='0' z='1'/>
+			<limits lo='0' hi='130' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Physics>
+			<Mass unit='kg' value='0.07'/>
+			<CoM location='Custom' x='0' y='3.33729e-08' z='-65'/>
+			<InertiaMatrix>
+					<row1 c1='0.612157' c2='0' c3='0'/>
+					<row2 c1='0' c2='0.5733' c3='0'/>
+					<row3 c1='0' c2='0' c3='0.430612'/>
+			</InertiaMatrix>
+		</Physics>
+		<Visualization>
+			<File type='inventor'>./models/HeadSegment_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_LBHD'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-28.4608' />
+					<row2 c1='0' c2='1' c3='0' c4='-32.9923' />
+					<row3 c1='0' c2='0' c3='1' c4='-50.3193' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_LFHD'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-28.4608' />
+					<row2 c1='0' c2='1' c3='0' c4='31.9975' />
+					<row3 c1='0' c2='0' c3='1' c4='-50.3193' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_RBHD'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='28.46' />
+					<row2 c1='0' c2='1' c3='0' c4='-32.9923' />
+					<row3 c1='0' c2='0' c3='1' c4='-50.3193' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_RFHD'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='28.46' />
+					<row2 c1='0' c2='1' c3='0' c4='31.9975' />
+					<row3 c1='0' c2='0' c3='1' c4='-50.3193' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+	</RobotNode>
+
+
+	<RobotNode name='LAsegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='-246' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='0' z='-1'/>
+			<limits lo='0' hi='246' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Physics>
+			<Mass unit='kg' value='0.04'/>
+			<CoM location='Custom' x='-2.75474e-12' y='1.04413e-05' z='139.5'/>
+			<InertiaMatrix>
+					<row1 c1='0.237419' c2='0' c3='0'/>
+					<row2 c1='0' c2='0.256481' c3='0'/>
+					<row3 c1='0' c2='0' c3='0.040572'/>
+			</InertiaMatrix>
+		</Physics>
+		<Visualization>
+			<File type='inventor'>./models/LAsegment_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_LTIP'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-12.8329' />
+					<row2 c1='0' c2='1' c3='0' c4='18.92' />
+					<row3 c1='0' c2='0' c3='1' c4='103.84' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='LAx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LAx_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='-0.698132' hi='0.523599' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='LAz_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LAy_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-0.349066' hi='0.349066' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LAy_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_LANK'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-22.9033' />
+					<row2 c1='0' c2='1' c3='0' c4='4.86361e-07' />
+					<row3 c1='0' c2='0' c3='1' c4='-18.2531' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_LHEE'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='0.458916' />
+					<row2 c1='0' c2='1' c3='0' c4='-33.2631' />
+					<row3 c1='0' c2='0' c3='1' c4='-15.4982' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='LeftFootHeight_joint'/>
+		<Child name='LMrot_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LAz_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='0' z='1'/>
+			<limits lo='-0.523599' hi='0.523599' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='LAy_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LEsegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='-188' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='0' z='-1'/>
+			<limits lo='0' hi='188' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Physics>
+			<Mass unit='kg' value='0.027'/>
+			<CoM location='Custom' x='-8.25728e-12' y='3.81383e-05' z='106'/>
+			<InertiaMatrix>
+					<row1 c1='0.0837755' c2='0' c3='0'/>
+					<row2 c1='0' c2='0.0940772' c3='0'/>
+					<row3 c1='0' c2='0' c3='0.0287506'/>
+			</InertiaMatrix>
+		</Physics>
+		<Visualization>
+			<File type='inventor'>./models/LEsegment_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_LAEL'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-1.54455' />
+					<row2 c1='0' c2='1' c3='0' c4='-17.482' />
+					<row3 c1='0' c2='0' c3='1' c4='-2.20636' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_LAOL'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='12.4554' />
+					<row2 c1='0' c2='1' c3='0' c4='-15.5' />
+					<row3 c1='0' c2='0' c3='1' c4='-1.86715' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_LUPA'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-19.8687' />
+					<row2 c1='0' c2='1' c3='0' c4='2.6444' />
+					<row3 c1='0' c2='0' c3='1' c4='126.53' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='LEx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LEx_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='2.79253' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='LEz_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LEz_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='0' z='1'/>
+			<limits lo='-1.5708' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='LWsegment_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LFx_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='0.987688' c2='-0.151104' c3='-0.0404882' c4='-8.8' />
+				<row2 c1='0.156434' c2='0.954034' c3='0.255633' c4='53.7' />
+				<row3 c1='0' c2='-0.258819' c3='0.965926' c4='-14.4' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='-0.785398' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LFx_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_LTOE'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='14.1863' />
+					<row2 c1='0' c2='1' c3='0' c4='33.7441' />
+					<row3 c1='0' c2='0' c3='1' c4='-2.44184' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+	</RobotNode>
+
+
+	<RobotNode name='LHsegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='-52' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='0' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='-1' y='0' z='0'/>
+			<limits lo='0' hi='52' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LHsegment_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_LASI'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-15.7722' />
+					<row2 c1='0' c2='1' c3='0' c4='43.9811' />
+					<row3 c1='0' c2='0' c3='1' c4='34.9948' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_LHIP'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-45.15' />
+					<row2 c1='0' c2='1' c3='0' c4='3.33725e-08' />
+					<row3 c1='0' c2='0' c3='1' c4='0' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_LPSI'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='24.5' />
+					<row2 c1='0' c2='1' c3='0' c4='-60' />
+					<row3 c1='0' c2='0' c3='1' c4='34.9948' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='LHx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LHx_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='-0.872665' hi='1.65806' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='LHz_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LHy_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-0.349066' hi='1.13446' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='LKsegment_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LHz_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='0' z='1'/>
+			<limits lo='-0.785398' hi='0.785398' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='LHy_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LKsegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='-245' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='0' z='-1'/>
+			<limits lo='0' hi='245' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Physics>
+			<Mass unit='kg' value='0.14'/>
+			<CoM location='Custom' x='-2.75474e-12' y='1.04413e-05' z='121.6'/>
+			<InertiaMatrix>
+					<row1 c1='3.0625' c2='0' c3='0'/>
+					<row2 c1='0' c2='3.0625' c3='0'/>
+					<row3 c1='0' c2='0' c3='0.636804'/>
+			</InertiaMatrix>
+		</Physics>
+		<Visualization>
+			<File type='inventor'>./models/LKsegment_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_LKNE'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-26.7885' />
+					<row2 c1='0' c2='1' c3='0' c4='3.33725e-08' />
+					<row3 c1='0' c2='0' c3='1' c4='1.58173' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_LTHI'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-32.78' />
+					<row2 c1='0' c2='1' c3='0' c4='5.71972e-05' />
+					<row3 c1='0' c2='0' c3='1' c4='61.28' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='LKx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LKx_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='-2.26893' hi='0' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='LAsegment_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LMrot_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='0.987688' c2='0.151104' c3='-0.0404882' c4='0.6' />
+				<row2 c1='-0.156434' c2='0.954034' c3='-0.255633' c4='23.8' />
+				<row3 c1='0' c2='0.258819' c3='0.965926' c4='-18.7' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-0.261799' hi='0.261799' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LMrot_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_LMT1'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='17.7316' />
+					<row2 c1='0' c2='1' c3='0' c4='51.4544' />
+					<row3 c1='0' c2='0' c3='1' c4='-12.24' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_LMT5'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-36.2073' />
+					<row2 c1='0' c2='1' c3='0' c4='42.4769' />
+					<row3 c1='0' c2='0' c3='1' c4='-12.7363' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='LFx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LSCsegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='-87' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='0' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='-1' y='0' z='0'/>
+			<limits lo='0' hi='87' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LSCsegment_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_LBAK'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='40.2164' />
+					<row2 c1='0' c2='1' c3='0' c4='-51.365' />
+					<row3 c1='0' c2='0' c3='1' c4='7.07746' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='LSCx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LSCx_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='0' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='LSCz_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LSCy_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-0.349066' hi='0.349066' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='LSsegment_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LSCz_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='0' z='1'/>
+			<limits lo='-0.349066' hi='0.349066' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='LSCy_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LSsegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='-23' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='0' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='-1' y='0' z='0'/>
+			<limits lo='0' hi='23' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Physics>
+			<Mass unit='kg' value='0.021'/>
+			<CoM location='Custom' x='10' y='4.16334e-14' z='0'/>
+			<InertiaMatrix>
+					<row1 c1='0.0298116' c2='0' c3='0'/>
+					<row2 c1='0' c2='0.0063504' c3='0'/>
+					<row3 c1='0' c2='0' c3='0.0298116'/>
+			</InertiaMatrix>
+		</Physics>
+		<Visualization>
+			<File type='inventor'>./models/LSsegment_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_LSHO'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-11.0491' />
+					<row2 c1='0' c2='1' c3='0' c4='-1.13565' />
+					<row3 c1='0' c2='0' c3='1' c4='6.38902' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='LSx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LSx_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='-1.22173' hi='3.31613' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='LSz_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LSy_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='0' hi='2.79253' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='LEsegment_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LSz_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='0' z='1'/>
+			<limits lo='-1.22173' hi='1.0472' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='LSy_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LWsegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='-145' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='0' z='-1'/>
+			<limits lo='0' hi='145' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Physics>
+			<Mass unit='kg' value='0.016'/>
+			<CoM location='Custom' x='-8.25728e-12' y='3.81383e-05' z='82.6'/>
+			<InertiaMatrix>
+					<row1 c1='0.0319821' c2='0' c3='0'/>
+					<row2 c1='0' c2='0.0340787' c3='0'/>
+					<row3 c1='0' c2='0' c3='0.0065229'/>
+			</InertiaMatrix>
+		</Physics>
+		<Visualization>
+			<File type='inventor'>./models/LWsegment_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_LFRA'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-15.4413' />
+					<row2 c1='0' c2='1' c3='0' c4='0.93' />
+					<row3 c1='0' c2='0' c3='1' c4='63.5425' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_LWPS'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-2.49894' />
+					<row2 c1='0' c2='1' c3='0' c4='-15.9993' />
+					<row3 c1='0' c2='0' c3='1' c4='0.167504' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_LWTS'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-2.49895' />
+					<row2 c1='0' c2='1' c3='0' c4='14.3563' />
+					<row3 c1='0' c2='0' c3='1' c4='0.167504' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='LWx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LWx_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='-0.523599' hi='0.349066' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='LWy_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LWy_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-1.22173' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LWy_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='LeftHandSegment_joint'/>
+		<Child name='LeftFingerJoint50y_joint'/>
+		<Child name='LeftFingerJoint31x_joint'/>
+		<Child name='LeftFingerJoint21x_joint'/>
+		<Child name='LeftFingerJoint11z_joint'/>
+		<Child name='LeftFingerJoint40y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LeftEyeSegmentX_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='-15' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='0' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='-1' y='0' z='0'/>
+			<limits lo='0' hi='15' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='LeftEyeSegmentY_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LeftEyeSegmentY_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='30' />
+				<row3 c1='0' c2='0' c3='1' c4='0' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='1' z='0'/>
+			<limits lo='0' hi='30' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LeftEyeSegmentY_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint11y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='0.707107' c3='0.707107' c4='0' />
+				<row3 c1='0' c2='-0.707107' c3='0.707107' c4='0' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='-0.785398' hi='0.785398' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LeftFingerJoint11y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='LeftFingerJoint12y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint11z_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='-1' c2='0' c3='-1.50996e-07' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='10.584' />
+				<row3 c1='1.50996e-07' c2='0' c3='-1' c4='-7.884' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='0' y='0' z='1'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='LeftFingerJoint11y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint12y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='21.168' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LeftFingerJoint12y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='LeftFingerJoint13y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint13y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='17.064' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LeftFingerJoint13y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint21x_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='7.54979e-08' c2='-1' c3='8.74228e-08' c4='0' />
+				<row2 c1='-1' c2='-7.54979e-08' c3='-8.74228e-08' c4='13.554' />
+				<row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-48.276' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-0.785398' hi='0.785398' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='LeftFingerJoint21y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint21y_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LeftFingerJoint21y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='LeftFingerJoint22y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint22y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='26.46' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LeftFingerJoint22y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='LeftFingerJoint23y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint23y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='15.444' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LeftFingerJoint23y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint31x_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='7.54979e-08' c2='-1' c3='8.74228e-08' c4='0' />
+				<row2 c1='-1' c2='-7.54979e-08' c3='-8.74228e-08' c4='0' />
+				<row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-48.168' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-0.785398' hi='0.785398' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='LeftFingerJoint31y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint31y_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LeftFingerJoint31y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='LeftFingerJoint32y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint32y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='28.728' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LeftFingerJoint32y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='LeftFingerJoint33y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint33y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='18.36' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LeftFingerJoint33y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint40y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='7.54979e-08' c2='-1' c3='8.74228e-08' c4='0' />
+				<row2 c1='-1' c2='-7.54979e-08' c3='-8.74228e-08' c4='-6.25' />
+				<row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-8.75' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='0.0872665' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LeftFingerJoint40y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='LeftFingerJoint41x_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint41x_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='4.9' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='35.422' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-0.785398' hi='0.785398' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='LeftFingerJoint41y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint41y_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LeftFingerJoint41y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='LeftFingerJoint42y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint42y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='26.352' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LeftFingerJoint42y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='LeftFingerJoint43y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint43y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='17.82' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LeftFingerJoint43y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint50y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='7.54979e-08' c2='-1' c3='8.74228e-08' c4='0' />
+				<row2 c1='-1' c2='-7.54979e-08' c3='-8.74228e-08' c4='-12.88' />
+				<row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-9.77' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='0.174533' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LeftFingerJoint50y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='LeftFingerJoint51x_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint51x_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='8.8' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='29.8' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-0.785398' hi='0.785398' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='LeftFingerJoint51y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint51y_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LeftFingerJoint51y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='LeftFingerJoint52y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint52y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='22.032' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LeftFingerJoint52y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='LeftFingerJoint53y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFingerJoint53y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='12.636' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/LeftFingerJoint53y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+	</RobotNode>
+
+
+	<RobotNode name='LeftFootHeight_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='-39' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='0' z='-1'/>
+			<limits lo='0' hi='39' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Physics>
+			<Mass unit='kg' value='0.013'/>
+			<CoM location='Custom' x='-8.35798e-08' y='25.225' z='19'/>
+			<InertiaMatrix>
+					<row1 c1='0.0036504' c2='0' c3='0'/>
+					<row2 c1='0' c2='0.0111794' c3='0'/>
+					<row3 c1='0' c2='0' c3='0.0096393'/>
+			</InertiaMatrix>
+		</Physics>
+	</RobotNode>
+
+
+	<RobotNode name='LeftHandSegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='-108' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='0' z='-1'/>
+			<limits lo='0' hi='108' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Physics>
+			<Mass unit='kg' value='0.006'/>
+			<CoM location='Custom' x='-8.25728e-12' y='3.81383e-05' z='53.4'/>
+			<InertiaMatrix>
+					<row1 c1='0.0021869' c2='0' c3='0'/>
+					<row2 c1='0' c2='0.0033304' c3='0'/>
+					<row3 c1='0' c2='0' c3='0.001283'/>
+			</InertiaMatrix>
+		</Physics>
+		<Visualization>
+			<File type='inventor'>./models/LeftHandSegment_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_LHPS'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-9.65197' />
+					<row2 c1='0' c2='1' c3='0' c4='-21.7232' />
+					<row3 c1='0' c2='0' c3='1' c4='78.9456' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_LHTS'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-10.3235' />
+					<row2 c1='0' c2='1' c3='0' c4='13.0487' />
+					<row3 c1='0' c2='0' c3='1' c4='69.6834' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_LIFD'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-7.41577' />
+					<row2 c1='0' c2='1' c3='0' c4='14.2213' />
+					<row3 c1='0' c2='0' c3='1' c4='14.536' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+	</RobotNode>
+
+
+	<RobotNode name='MidHeadSegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='66' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='0' z='1'/>
+			<limits lo='0' hi='66' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='LeftEyeSegmentX_joint'/>
+		<Child name='RightEyeSegmentX_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RAsegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='-246' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='0' z='-1'/>
+			<limits lo='0' hi='246' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Physics>
+			<Mass unit='kg' value='0.04'/>
+			<CoM location='Custom' x='-3.88578e-13' y='1.04413e-05' z='139.5'/>
+			<InertiaMatrix>
+					<row1 c1='0.237419' c2='0' c3='0'/>
+					<row2 c1='0' c2='0.256481' c3='0'/>
+					<row3 c1='0' c2='0' c3='0.040572'/>
+			</InertiaMatrix>
+		</Physics>
+		<Visualization>
+			<File type='inventor'>./models/RAsegment_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_RTIP'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='12.8313' />
+					<row2 c1='0' c2='1' c3='0' c4='18.51' />
+					<row3 c1='0' c2='0' c3='1' c4='177.87' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='RAx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RAx_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='-0.698132' hi='0.523599' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='RAz_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RAy_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-0.349066' hi='0.349066' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RAy_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_RANK'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='22.9' />
+					<row2 c1='0' c2='1' c3='0' c4='-4.19614e-07' />
+					<row3 c1='0' c2='0' c3='1' c4='-18.25' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_RHEE'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-0.460001' />
+					<row2 c1='0' c2='1' c3='0' c4='-33.2618' />
+					<row3 c1='0' c2='0' c3='1' c4='-15.4999' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='RightFootHeight_joint'/>
+		<Child name='RMrot_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RAz_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='0' z='1'/>
+			<limits lo='-0.523599' hi='0.523599' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='RAy_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='REsegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='-188' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='0' z='-1'/>
+			<limits lo='0' hi='188' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Physics>
+			<Mass unit='kg' value='0.027'/>
+			<CoM location='Custom' x='0.0203848' y='3.81383e-05' z='106'/>
+			<InertiaMatrix>
+					<row1 c1='0.0837755' c2='0' c3='0'/>
+					<row2 c1='0' c2='0.0940772' c3='0'/>
+					<row3 c1='0' c2='0' c3='0.0287506'/>
+			</InertiaMatrix>
+		</Physics>
+		<Visualization>
+			<File type='inventor'>./models/REsegment_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_RAEL'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='1.54' />
+					<row2 c1='0' c2='1' c3='0' c4='-17.482' />
+					<row3 c1='0' c2='0' c3='1' c4='-2.20636' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_RAOL'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-12.5' />
+					<row2 c1='0' c2='1' c3='0' c4='-15.5' />
+					<row3 c1='0' c2='0' c3='1' c4='-1.86715' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_RUPA'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='19.8672' />
+					<row2 c1='0' c2='1' c3='0' c4='2.6444' />
+					<row3 c1='0' c2='0' c3='1' c4='126.53' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='REx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='REx_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='2.79253' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='REz_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='REz_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='0' z='1'/>
+			<limits lo='-1.5708' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='RWsegment_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RFx_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='0.987688' c2='0.151104' c3='0.0404882' c4='8.8' />
+				<row2 c1='-0.156434' c2='0.954034' c3='0.255633' c4='53.7' />
+				<row3 c1='0' c2='-0.258819' c3='0.965926' c4='-14.3922' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='-0.785398' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RFx_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_RTOE'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-15.3868' />
+					<row2 c1='0' c2='1' c3='0' c4='33.7525' />
+					<row3 c1='0' c2='0' c3='1' c4='-2.49873' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+	</RobotNode>
+
+
+	<RobotNode name='RHsegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='52' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='0' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='1' y='0' z='0'/>
+			<limits lo='0' hi='52' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RHsegment_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_RASI'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='15.77' />
+					<row2 c1='0' c2='1' c3='0' c4='43.9811' />
+					<row3 c1='0' c2='0' c3='1' c4='34.9948' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_RHIP'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='45.15' />
+					<row2 c1='0' c2='1' c3='0' c4='3.33725e-08' />
+					<row3 c1='0' c2='0' c3='1' c4='0' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_RPSI'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-24.5' />
+					<row2 c1='0' c2='1' c3='0' c4='-60' />
+					<row3 c1='0' c2='0' c3='1' c4='34.9948' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='RHx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RHx_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='-0.872665' hi='1.65806' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='RHz_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RHy_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-1.13446' hi='0.349066' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='RKsegment_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RHz_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='0' z='1'/>
+			<limits lo='-0.785398' hi='0.785398' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='RHy_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RKsegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='-245' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='0' z='-1'/>
+			<limits lo='0' hi='245' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Physics>
+			<Mass unit='kg' value='0.14'/>
+			<CoM location='Custom' x='0.0456274' y='1.04413e-05' z='121.6'/>
+			<InertiaMatrix>
+					<row1 c1='3.0625' c2='0' c3='0'/>
+					<row2 c1='0' c2='3.0625' c3='0'/>
+					<row3 c1='0' c2='0' c3='0.636804'/>
+			</InertiaMatrix>
+		</Physics>
+		<Visualization>
+			<File type='inventor'>./models/RKsegment_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_RKNE'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='26.793' />
+					<row2 c1='0' c2='1' c3='0' c4='3.33733e-08' />
+					<row3 c1='0' c2='0' c3='1' c4='1.58173' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_RTHI'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='39.81' />
+					<row2 c1='0' c2='1' c3='0' c4='4.6559e-05' />
+					<row3 c1='0' c2='0' c3='1' c4='140.46' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='RKx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RKx_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='-2.26893' hi='0' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='RAsegment_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RMrot_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='0.987688' c2='-0.151104' c3='0.0404882' c4='0.6' />
+				<row2 c1='0.156434' c2='0.954034' c3='-0.255633' c4='23.8' />
+				<row3 c1='0' c2='0.258819' c3='0.965926' c4='-18.7' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-0.261799' hi='0.261799' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RMrot_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_RMT1'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-18.9131' />
+					<row2 c1='0' c2='1' c3='0' c4='51.6351' />
+					<row3 c1='0' c2='0' c3='1' c4='-12.2884' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_RMT5'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='35.0239' />
+					<row2 c1='0' c2='1' c3='0' c4='42.6533' />
+					<row3 c1='0' c2='0' c3='1' c4='-12.7853' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='RFx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RSCsegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='87' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='0' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='1' y='0' z='0'/>
+			<limits lo='0' hi='87' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RSCsegment_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_RBAK'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-60.9917' />
+					<row2 c1='0' c2='1' c3='0' c4='-60.727' />
+					<row3 c1='0' c2='0' c3='1' c4='-48.1316' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='RSCx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RSCx_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='0' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='RSCz_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RSCy_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-0.349066' hi='0.349066' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='RSsegment_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RSCz_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='0' z='1'/>
+			<limits lo='-0.349066' hi='0.349066' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='RSCy_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RSsegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='23' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='0' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='1' y='0' z='0'/>
+			<limits lo='0' hi='23' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Physics>
+			<Mass unit='kg' value='0.021'/>
+			<CoM location='Custom' x='-10' y='4.16334e-14' z='0'/>
+			<InertiaMatrix>
+					<row1 c1='0.0298116' c2='0' c3='0'/>
+					<row2 c1='0' c2='0.0063504' c3='0'/>
+					<row3 c1='0' c2='0' c3='0.0298116'/>
+			</InertiaMatrix>
+		</Physics>
+		<Visualization>
+			<File type='inventor'>./models/RSsegment_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_RSHO'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='11.0476' />
+					<row2 c1='0' c2='1' c3='0' c4='-1.13565' />
+					<row3 c1='0' c2='0' c3='1' c4='6.38902' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='RSx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RSx_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='-1.22173' hi='3.31613' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='RSz_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RSy_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-2.79253' hi='0' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='REsegment_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RSz_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='0' z='1'/>
+			<limits lo='-1.0472' hi='1.22173' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='RSy_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RWsegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='-145' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='0' z='-1'/>
+			<limits lo='0' hi='145' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Physics>
+			<Mass unit='kg' value='0.016'/>
+			<CoM location='Custom' x='0.0203848' y='3.81383e-05' z='82.6'/>
+			<InertiaMatrix>
+					<row1 c1='0.0319821' c2='0' c3='0'/>
+					<row2 c1='0' c2='0.0340787' c3='0'/>
+					<row3 c1='0' c2='0' c3='0.0065229'/>
+			</InertiaMatrix>
+		</Physics>
+		<Visualization>
+			<File type='inventor'>./models/RWsegment_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Sensor type='position' name='MARKER_RFRA'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='15.4' />
+					<row2 c1='0' c2='1' c3='0' c4='0.930038' />
+					<row3 c1='0' c2='0' c3='1' c4='63.5425' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_RWPS'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='2.31349' />
+					<row2 c1='0' c2='1' c3='0' c4='-15.9993' />
+					<row3 c1='0' c2='0' c3='1' c4='0.167504' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_RWTS'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='2.31349' />
+					<row2 c1='0' c2='1' c3='0' c4='14.3563' />
+					<row3 c1='0' c2='0' c3='1' c4='0.167504' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='RWx_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RWx_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='-0.523599' hi='0.349066' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<CollisionModel>
+            <Primitives>
+                <Box width="10" height="10" depth="10"/>
+            </Primitives>
+        </CollisionModel>
+		<Child name='RWy_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RWy_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-1.5708' hi='1.22173' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RWy_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='RightFingerJoint21x_joint'/>
+		<Child name='RightHandSegment_joint'/>
+		<Child name='RightFingerJoint11z_joint'/>
+		<Child name='RightFingerJoint31x_joint'/>
+		<Child name='RightFingerJoint40y_joint'/>
+		<Child name='RightFingerJoint50y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightEyeSegmentX_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='15' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='0' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='1' y='0' z='0'/>
+			<limits lo='0' hi='15' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='RightEyeSegmentY_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightEyeSegmentY_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='30' />
+				<row3 c1='0' c2='0' c3='1' c4='0' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='1' z='0'/>
+			<limits lo='0' hi='30' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RightEyeSegmentY_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint11y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='-1' c2='1.0677e-07' c3='-1.0677e-07' c4='0' />
+				<row2 c1='0' c2='0.707107' c3='0.707107' c4='0' />
+				<row3 c1='1.50996e-07' c2='0.707107' c3='-0.707107' c4='0' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='-0.785398' hi='0.785398' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RightFingerJoint11y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='RightFingerJoint12y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint11z_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='10.584' />
+				<row3 c1='0' c2='0' c3='1' c4='-7.884' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='0' y='0' z='1'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='RightFingerJoint11y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint12y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='21.168' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RightFingerJoint12y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='RightFingerJoint13y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint13y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='17.064' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RightFingerJoint13y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint21x_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='7.54979e-08' c2='1' c3='-8.74228e-08' c4='0' />
+				<row2 c1='1' c2='-7.54979e-08' c3='8.74228e-08' c4='13.554' />
+				<row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-48.3' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-0.785398' hi='0.785398' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='RightFingerJoint21y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint21y_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RightFingerJoint21y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='RightFingerJoint22y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint22y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='26.46' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RightFingerJoint22y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='RightFingerJoint23y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint23y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='15.444' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RightFingerJoint23y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint31x_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='7.54979e-08' c2='1' c3='-8.74228e-08' c4='0' />
+				<row2 c1='1' c2='-7.54979e-08' c3='8.74228e-08' c4='0' />
+				<row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-48.168' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-0.785398' hi='0.785398' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='RightFingerJoint31y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint31y_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RightFingerJoint31y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='RightFingerJoint32y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint32y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='28.728' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RightFingerJoint32y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='RightFingerJoint33y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint33y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='18.36' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RightFingerJoint33y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint40y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='7.54979e-08' c2='1' c3='-8.74228e-08' c4='0' />
+				<row2 c1='1' c2='-7.54979e-08' c3='8.74228e-08' c4='-6.25' />
+				<row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-8.75' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='0.0872665' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RightFingerJoint40y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='RightFingerJoint41x_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint41x_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='-4.9' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='35.422' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-0.785398' hi='0.785398' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='RightFingerJoint41y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint41y_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RightFingerJoint41y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='RightFingerJoint42y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint42y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='26.352' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RightFingerJoint42y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='RightFingerJoint43y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint43y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='17.82' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RightFingerJoint43y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint50y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='7.54979e-08' c2='1' c3='-8.74228e-08' c4='0' />
+				<row2 c1='1' c2='-7.54979e-08' c3='8.74228e-08' c4='-12.88' />
+				<row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-9.97' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='0.174533' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RightFingerJoint50y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='RightFingerJoint51x_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint51x_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='-8.828' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='29.774' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='0' y='1' z='0'/>
+			<limits lo='-0.785398' hi='0.785398' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='RightFingerJoint51y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint51y_joint'>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RightFingerJoint51y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='RightFingerJoint52y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint52y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='22.032' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RightFingerJoint52y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+		<Child name='RightFingerJoint53y_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightFingerJoint53y_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='12.636' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='revolute'>
+			<axis x='1' y='0' z='0'/>
+			<limits lo='0' hi='1.5708' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Visualization>
+			<File type='inventor'>./models/RightFingerJoint53y_joint_visu.wrl</File>
+                <UseAsCollisionModel/></Visualization>
+	</RobotNode>
+
+
+	<RobotNode name='RightFootHeight_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='-39' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='0' z='-1'/>
+			<limits lo='0' hi='39' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Physics>
+			<Mass unit='kg' value='0.013'/>
+			<CoM location='Custom' x='-8.35776e-08' y='25.225' z='19'/>
+			<InertiaMatrix>
+					<row1 c1='0.0036504' c2='0' c3='0'/>
+					<row2 c1='0' c2='0.0111794' c3='0'/>
+					<row3 c1='0' c2='0' c3='0.0096393'/>
+			</InertiaMatrix>
+		</Physics>
+		<Child name='RightFootLength_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='RightFootLength_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='68' />
+				<row3 c1='0' c2='0' c3='1' c4='0' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='1' z='0'/>
+			<limits lo='0' hi='68' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+	</RobotNode>
+
+
+	<RobotNode name='RightHandSegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='-108' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='0' z='-1'/>
+			<limits lo='0' hi='108' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Physics>
+			<Mass unit='kg' value='0.006'/>
+			<CoM location='Custom' x='0.0203848' y='3.81383e-05' z='53.4'/>
+			<InertiaMatrix>
+					<row1 c1='0.0021869' c2='0' c3='0'/>
+					<row2 c1='0' c2='0.0033304' c3='0'/>
+					<row3 c1='0' c2='0' c3='0.001283'/>
+			</InertiaMatrix>
+		</Physics>
+		<Sensor type='position' name='MARKER_RHPS'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='8.67729' />
+					<row2 c1='0' c2='1' c3='0' c4='-22.2095' />
+					<row3 c1='0' c2='0' c3='1' c4='76.666' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_RHTS'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='9.3514' />
+					<row2 c1='0' c2='1' c3='0' c4='14.9125' />
+					<row3 c1='0' c2='0' c3='1' c4='69.1177' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_RIFD'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='7.77317' />
+					<row2 c1='0' c2='1' c3='0' c4='13.1986' />
+					<row3 c1='0' c2='0' c3='1' c4='15.0756' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+	</RobotNode>
+
+
+	<RobotNode name='collarSegment_joint'>
+		<Transform>
+			<Matrix4x4 units='mm'>
+				<row1 c1='1' c2='0' c3='0' c4='0' />
+				<row2 c1='0' c2='1' c3='0' c4='0' />
+				<row3 c1='0' c2='0' c3='1' c4='188' />
+				<row4 c1='0' c2='0' c3='0' c4='1' />
+			</Matrix4x4>
+		</Transform>
+		<Joint type='prismatic'>
+			<translationdirection x='0' y='0' z='1'/>
+			<limits lo='0' hi='188' units='mm'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Physics>
+			<Mass unit='kg' value='0.17'/>
+			<CoM location='Custom' x='0' y='3.33729e-08' z='-33.84'/>
+			<InertiaMatrix>
+					<row1 c1='6.37245' c2='0' c3='0'/>
+					<row2 c1='0' c2='5.09635' c3='0'/>
+					<row3 c1='0' c2='0' c3='4.22532'/>
+			</InertiaMatrix>
+		</Physics>
+		<Sensor type='position' name='MARKER_STRN'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='-0.205368' />
+					<row2 c1='0' c2='1' c3='0' c4='60.7288' />
+					<row3 c1='0' c2='0' c3='1' c4='-80.5236' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Sensor type='position' name='MARKER_T10'>
+			<Transform>
+				<Matrix4x4 units='mm'>
+					<row1 c1='1' c2='0' c3='0' c4='0' />
+					<row2 c1='0' c2='1' c3='0' c4='-62.5189' />
+					<row3 c1='0' c2='0' c3='1' c4='-111.766' />
+					<row4 c1='0' c2='0' c3='0' c4='1' />
+				</Matrix4x4>
+			</Transform>
+		</Sensor>
+		<Child name='LSCsegment_joint'/>
+		<Child name='RSCsegment_joint'/>
+		<Child name='BLNsegment_joint'/>
+	</RobotNode>
+
+
+	<RobotNode name='root_joint'>
+		<Joint type='revolute'>
+			<axis x='0' y='0' z='1'/>
+			<limits lo='0' hi='0' units='radian'/>
+			<MaxAcceleration value='-1'/>
+			<MaxVelocity value='-1'/>
+			<MaxTorque value='-1'/>
+		</Joint>
+		<Child name='BPSegment_joint'/>
+		<Child name='LHsegment_joint'/>
+		<Child name='RHsegment_joint'/>
+	</RobotNode>
+
+
+
+	<RobotNodeSet name='All'>
+		<Node name='root_joint'/>
+		<Node name='BPSegment_joint'/>
+		<Node name='BPx_joint'/>
+		<Node name='BPz_joint'/>
+		<Node name='BPy_joint'/>
+		<Node name='BTSegment_joint'/>
+		<Node name='BTx_joint'/>
+		<Node name='BTz_joint'/>
+		<Node name='BTy_joint'/>
+		<Node name='collarSegment_joint'/>
+		<Node name='LSCsegment_joint'/>
+		<Node name='LSCx_joint'/>
+		<Node name='LSCz_joint'/>
+		<Node name='LSCy_joint'/>
+		<Node name='LSsegment_joint'/>
+		<Node name='LSx_joint'/>
+		<Node name='LSz_joint'/>
+		<Node name='LSy_joint'/>
+		<Node name='LEsegment_joint'/>
+		<Node name='LEx_joint'/>
+		<Node name='LEz_joint'/>
+		<Node name='LWsegment_joint'/>
+		<Node name='LWx_joint'/>
+		<Node name='LWy_joint'/>
+		<Node name='LeftHandSegment_joint'/>
+		<Node name='LeftFingerJoint50y_joint'/>
+		<Node name='LeftFingerJoint51x_joint'/>
+		<Node name='LeftFingerJoint51y_joint'/>
+		<Node name='LeftFingerJoint52y_joint'/>
+		<Node name='LeftFingerJoint53y_joint'/>
+		<Node name='LeftFingerJoint31x_joint'/>
+		<Node name='LeftFingerJoint31y_joint'/>
+		<Node name='LeftFingerJoint32y_joint'/>
+		<Node name='LeftFingerJoint33y_joint'/>
+		<Node name='LeftFingerJoint21x_joint'/>
+		<Node name='LeftFingerJoint21y_joint'/>
+		<Node name='LeftFingerJoint22y_joint'/>
+		<Node name='LeftFingerJoint23y_joint'/>
+		<Node name='LeftFingerJoint11z_joint'/>
+		<Node name='LeftFingerJoint11y_joint'/>
+		<Node name='LeftFingerJoint12y_joint'/>
+		<Node name='LeftFingerJoint13y_joint'/>
+		<Node name='LeftFingerJoint40y_joint'/>
+		<Node name='LeftFingerJoint41x_joint'/>
+		<Node name='LeftFingerJoint41y_joint'/>
+		<Node name='LeftFingerJoint42y_joint'/>
+		<Node name='LeftFingerJoint43y_joint'/>
+		<Node name='RSCsegment_joint'/>
+		<Node name='RSCx_joint'/>
+		<Node name='RSCz_joint'/>
+		<Node name='RSCy_joint'/>
+		<Node name='RSsegment_joint'/>
+		<Node name='RSx_joint'/>
+		<Node name='RSz_joint'/>
+		<Node name='RSy_joint'/>
+		<Node name='REsegment_joint'/>
+		<Node name='REx_joint'/>
+		<Node name='REz_joint'/>
+		<Node name='RWsegment_joint'/>
+		<Node name='RWx_joint'/>
+		<Node name='RWy_joint'/>
+		<Node name='RightFingerJoint21x_joint'/>
+		<Node name='RightFingerJoint21y_joint'/>
+		<Node name='RightFingerJoint22y_joint'/>
+		<Node name='RightFingerJoint23y_joint'/>
+		<Node name='RightHandSegment_joint'/>
+		<Node name='RightFingerJoint11z_joint'/>
+		<Node name='RightFingerJoint11y_joint'/>
+		<Node name='RightFingerJoint12y_joint'/>
+		<Node name='RightFingerJoint13y_joint'/>
+		<Node name='RightFingerJoint31x_joint'/>
+		<Node name='RightFingerJoint31y_joint'/>
+		<Node name='RightFingerJoint32y_joint'/>
+		<Node name='RightFingerJoint33y_joint'/>
+		<Node name='RightFingerJoint40y_joint'/>
+		<Node name='RightFingerJoint41x_joint'/>
+		<Node name='RightFingerJoint41y_joint'/>
+		<Node name='RightFingerJoint42y_joint'/>
+		<Node name='RightFingerJoint43y_joint'/>
+		<Node name='RightFingerJoint50y_joint'/>
+		<Node name='RightFingerJoint51x_joint'/>
+		<Node name='RightFingerJoint51y_joint'/>
+		<Node name='RightFingerJoint52y_joint'/>
+		<Node name='RightFingerJoint53y_joint'/>
+		<Node name='BLNsegment_joint'/>
+		<Node name='BLNx_joint'/>
+		<Node name='BLNz_joint'/>
+		<Node name='BLNy_joint'/>
+		<Node name='BUNsegment_joint'/>
+		<Node name='BUNx_joint'/>
+		<Node name='BUNz_joint'/>
+		<Node name='BUNy_joint'/>
+		<Node name='MidHeadSegment_joint'/>
+		<Node name='LeftEyeSegmentX_joint'/>
+		<Node name='LeftEyeSegmentY_joint'/>
+		<Node name='RightEyeSegmentX_joint'/>
+		<Node name='RightEyeSegmentY_joint'/>
+		<Node name='HeadSegment_joint'/>
+		<Node name='LHsegment_joint'/>
+		<Node name='LHx_joint'/>
+		<Node name='LHz_joint'/>
+		<Node name='LHy_joint'/>
+		<Node name='LKsegment_joint'/>
+		<Node name='LKx_joint'/>
+		<Node name='LAsegment_joint'/>
+		<Node name='LAx_joint'/>
+		<Node name='LAz_joint'/>
+		<Node name='LAy_joint'/>
+		<Node name='LeftFootHeight_joint'/>
+		<Node name='LMrot_joint'/>
+		<Node name='LFx_joint'/>
+		<Node name='RHsegment_joint'/>
+		<Node name='RHx_joint'/>
+		<Node name='RHz_joint'/>
+		<Node name='RHy_joint'/>
+		<Node name='RKsegment_joint'/>
+		<Node name='RKx_joint'/>
+		<Node name='RAsegment_joint'/>
+		<Node name='RAx_joint'/>
+		<Node name='RAz_joint'/>
+		<Node name='RAy_joint'/>
+		<Node name='RightFootHeight_joint'/>
+		<Node name='RightFootLength_joint'/>
+		<Node name='RMrot_joint'/>
+		<Node name='RFx_joint'/>
+	</RobotNodeSet>
+
+	<RobotNodeSet name='Joints_Prismatic'>
+		<Node name='BPSegment_joint'/>
+		<Node name='BTSegment_joint'/>
+		<Node name='collarSegment_joint'/>
+		<Node name='LSCsegment_joint'/>
+		<Node name='LSsegment_joint'/>
+		<Node name='LEsegment_joint'/>
+		<Node name='LWsegment_joint'/>
+		<Node name='LeftHandSegment_joint'/>
+		<Node name='RSCsegment_joint'/>
+		<Node name='RSsegment_joint'/>
+		<Node name='REsegment_joint'/>
+		<Node name='RWsegment_joint'/>
+		<Node name='RightHandSegment_joint'/>
+		<Node name='BLNsegment_joint'/>
+		<Node name='BUNsegment_joint'/>
+		<Node name='MidHeadSegment_joint'/>
+		<Node name='LeftEyeSegmentX_joint'/>
+		<Node name='LeftEyeSegmentY_joint'/>
+		<Node name='RightEyeSegmentX_joint'/>
+		<Node name='RightEyeSegmentY_joint'/>
+		<Node name='HeadSegment_joint'/>
+		<Node name='LHsegment_joint'/>
+		<Node name='LKsegment_joint'/>
+		<Node name='LAsegment_joint'/>
+		<Node name='LeftFootHeight_joint'/>
+		<Node name='RHsegment_joint'/>
+		<Node name='RKsegment_joint'/>
+		<Node name='RAsegment_joint'/>
+		<Node name='RightFootHeight_joint'/>
+		<Node name='RightFootLength_joint'/>
+	</RobotNodeSet>
+
+	<RobotNodeSet name='Joints_Revolute'>
+		<Node name='root_joint'/>
+		<Node name='BPx_joint'/>
+		<Node name='BPz_joint'/>
+		<Node name='BPy_joint'/>
+		<Node name='BTx_joint'/>
+		<Node name='BTz_joint'/>
+		<Node name='BTy_joint'/>
+		<Node name='LSCx_joint'/>
+		<Node name='LSCz_joint'/>
+		<Node name='LSCy_joint'/>
+		<Node name='LSx_joint'/>
+		<Node name='LSz_joint'/>
+		<Node name='LSy_joint'/>
+		<Node name='LEx_joint'/>
+		<Node name='LEz_joint'/>
+		<Node name='LWx_joint'/>
+		<Node name='LWy_joint'/>
+		<Node name='LeftFingerJoint50y_joint'/>
+		<Node name='LeftFingerJoint51x_joint'/>
+		<Node name='LeftFingerJoint51y_joint'/>
+		<Node name='LeftFingerJoint52y_joint'/>
+		<Node name='LeftFingerJoint53y_joint'/>
+		<Node name='LeftFingerJoint31x_joint'/>
+		<Node name='LeftFingerJoint31y_joint'/>
+		<Node name='LeftFingerJoint32y_joint'/>
+		<Node name='LeftFingerJoint33y_joint'/>
+		<Node name='LeftFingerJoint21x_joint'/>
+		<Node name='LeftFingerJoint21y_joint'/>
+		<Node name='LeftFingerJoint22y_joint'/>
+		<Node name='LeftFingerJoint23y_joint'/>
+		<Node name='LeftFingerJoint11z_joint'/>
+		<Node name='LeftFingerJoint11y_joint'/>
+		<Node name='LeftFingerJoint12y_joint'/>
+		<Node name='LeftFingerJoint13y_joint'/>
+		<Node name='LeftFingerJoint40y_joint'/>
+		<Node name='LeftFingerJoint41x_joint'/>
+		<Node name='LeftFingerJoint41y_joint'/>
+		<Node name='LeftFingerJoint42y_joint'/>
+		<Node name='LeftFingerJoint43y_joint'/>
+		<Node name='RSCx_joint'/>
+		<Node name='RSCz_joint'/>
+		<Node name='RSCy_joint'/>
+		<Node name='RSx_joint'/>
+		<Node name='RSz_joint'/>
+		<Node name='RSy_joint'/>
+		<Node name='REx_joint'/>
+		<Node name='REz_joint'/>
+		<Node name='RWx_joint'/>
+		<Node name='RWy_joint'/>
+		<Node name='RightFingerJoint21x_joint'/>
+		<Node name='RightFingerJoint21y_joint'/>
+		<Node name='RightFingerJoint22y_joint'/>
+		<Node name='RightFingerJoint23y_joint'/>
+		<Node name='RightFingerJoint11z_joint'/>
+		<Node name='RightFingerJoint11y_joint'/>
+		<Node name='RightFingerJoint12y_joint'/>
+		<Node name='RightFingerJoint13y_joint'/>
+		<Node name='RightFingerJoint31x_joint'/>
+		<Node name='RightFingerJoint31y_joint'/>
+		<Node name='RightFingerJoint32y_joint'/>
+		<Node name='RightFingerJoint33y_joint'/>
+		<Node name='RightFingerJoint40y_joint'/>
+		<Node name='RightFingerJoint41x_joint'/>
+		<Node name='RightFingerJoint41y_joint'/>
+		<Node name='RightFingerJoint42y_joint'/>
+		<Node name='RightFingerJoint43y_joint'/>
+		<Node name='RightFingerJoint50y_joint'/>
+		<Node name='RightFingerJoint51x_joint'/>
+		<Node name='RightFingerJoint51y_joint'/>
+		<Node name='RightFingerJoint52y_joint'/>
+		<Node name='RightFingerJoint53y_joint'/>
+		<Node name='BLNx_joint'/>
+		<Node name='BLNz_joint'/>
+		<Node name='BLNy_joint'/>
+		<Node name='BUNx_joint'/>
+		<Node name='BUNz_joint'/>
+		<Node name='BUNy_joint'/>
+		<Node name='LHx_joint'/>
+		<Node name='LHz_joint'/>
+		<Node name='LHy_joint'/>
+		<Node name='LKx_joint'/>
+		<Node name='LAx_joint'/>
+		<Node name='LAz_joint'/>
+		<Node name='LAy_joint'/>
+		<Node name='LMrot_joint'/>
+		<Node name='LFx_joint'/>
+		<Node name='RHx_joint'/>
+		<Node name='RHz_joint'/>
+		<Node name='RHy_joint'/>
+		<Node name='RKx_joint'/>
+		<Node name='RAx_joint'/>
+		<Node name='RAz_joint'/>
+		<Node name='RAy_joint'/>
+		<Node name='RMrot_joint'/>
+		<Node name='RFx_joint'/>
+	</RobotNodeSet>
+
+
+
+        <RobotNodeSet name='MMMJoints'>
+                <Node name='root_joint'/>
+                <Node name='BPx_joint'/>
+                <Node name='BPz_joint'/>
+                <Node name='BPy_joint'/>
+                <Node name='BTx_joint'/>
+                <Node name='BTz_joint'/>
+                <Node name='BTy_joint'/>
+                <Node name='LSCx_joint'/>
+                <Node name='LSCz_joint'/>
+                <Node name='LSCy_joint'/>
+                <Node name='LSx_joint'/>
+                <Node name='LSz_joint'/>
+                <Node name='LSy_joint'/>
+                <Node name='LEx_joint'/>
+                <Node name='LEz_joint'/>
+                <Node name='LWx_joint'/>
+                <Node name='LWy_joint'/>
+                <Node name='RSCx_joint'/>
+                <Node name='RSCz_joint'/>
+                <Node name='RSCy_joint'/>
+                <Node name='RSx_joint'/>
+                <Node name='RSz_joint'/>
+                <Node name='RSy_joint'/>
+                <Node name='REx_joint'/>
+                <Node name='REz_joint'/>
+                <Node name='RWx_joint'/>
+                <Node name='RWy_joint'/>
+                <Node name='BLNx_joint'/>
+                <Node name='BLNz_joint'/>
+                <Node name='BLNy_joint'/>
+                <Node name='BUNx_joint'/>
+                <Node name='BUNz_joint'/>
+                <Node name='BUNy_joint'/>
+                <Node name='LHx_joint'/>
+                <Node name='LHz_joint'/>
+                <Node name='LHy_joint'/>
+                <Node name='LKx_joint'/>
+                <Node name='LAx_joint'/>
+                <Node name='LAz_joint'/>
+                <Node name='LAy_joint'/>
+                <Node name='LMrot_joint'/>
+                <Node name='LFx_joint'/>
+                <Node name='RHx_joint'/>
+                <Node name='RHz_joint'/>
+                <Node name='RHy_joint'/>
+                <Node name='RKx_joint'/>
+                <Node name='RAx_joint'/>
+                <Node name='RAz_joint'/>
+                <Node name='RAy_joint'/>
+                <Node name='RMrot_joint'/>
+                <Node name='RFx_joint'/>
+        </RobotNodeSet>
+
+
+        <RobotNodeSet name='LeftHipArm' tcp='LeftHandSegment_joint'>
+                <Node name='BTx_joint'/>
+                <Node name='BTz_joint'/>
+                <Node name='BTy_joint'/>
+                <Node name='LSCx_joint'/>
+                <Node name='LSCz_joint'/>
+                <Node name='LSCy_joint'/>
+                <Node name='LSx_joint'/>
+                <Node name='LSz_joint'/>
+                <Node name='LSy_joint'/>
+                <Node name='LEx_joint'/>
+                <Node name='LEz_joint'/>
+                <Node name='LWx_joint'/>
+                <Node name='LWy_joint'/>
+        </RobotNodeSet>
+
+
+
+        <RobotNodeSet name='LeftArm' tcp='LeftHandSegment_joint'>
+                <Node name='LSCx_joint'/>
+                <Node name='LSCz_joint'/>
+                <Node name='LSCy_joint'/>
+                <Node name='LSx_joint'/>
+                <Node name='LSz_joint'/>
+                <Node name='LSy_joint'/>
+                <Node name='LEx_joint'/>
+                <Node name='LEz_joint'/>
+                <Node name='LWx_joint'/>
+                <Node name='LWy_joint'/>
+        </RobotNodeSet>
+
+
+        <RobotNodeSet name='RightHipArm' tcp='RightHandSegment_joint'>
+                <Node name='BTx_joint'/>
+                <Node name='BTz_joint'/>
+                <Node name='BTy_joint'/>
+                <Node name='RSCx_joint'/>
+                <Node name='RSCz_joint'/>
+                <Node name='RSCy_joint'/>
+                <Node name='RSx_joint'/>
+                <Node name='RSz_joint'/>
+                <Node name='RSy_joint'/>
+                <Node name='REx_joint'/>
+                <Node name='REz_joint'/>
+                <Node name='RWx_joint'/>
+                <Node name='RWy_joint'/>
+        </RobotNodeSet>
+
+        <RobotNodeSet name='RightArm' tcp='RightHandSegment_joint'>
+                <Node name='RSCx_joint'/>
+                <Node name='RSCz_joint'/>
+                <Node name='RSCy_joint'/>
+                <Node name='RSx_joint'/>
+                <Node name='RSz_joint'/>
+                <Node name='RSy_joint'/>
+                <Node name='REx_joint'/>
+                <Node name='REz_joint'/>
+                <Node name='RWx_joint'/>
+                <Node name='RWy_joint'/>
+        </RobotNodeSet>
+
+</Robot>
diff --git a/data/RobotAPI/robots/MMM/models/BTSegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/BTSegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..269d394e12969c65df64c25e8108d2816d032192
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/BTSegment_joint_visu.wrl
@@ -0,0 +1,2006 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    Group {
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+          children 
+            Transform {
+              translation 0 3.3372902e-011 0.066399999
+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+
+            }
+
+        },
+          
+        Group {
+          children 
+            Transform {
+              translation -0 0 -0.099999994
+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              children 
+                Transform {
+                  translation 0.00073681702 3.3372902e-011 0.1
+                  rotation 0 0 1  0
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  children 
+                    Shape {
+                      appearance 
+                      Appearance {
+                        material 
+                        Material {
+                          diffuseColor 0.65864992 0.50308388 0.31538299
+
+                        }
+
+                      }
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diff --git a/data/RobotAPI/robots/MMM/models/BTy_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/BTy_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..69a5c5e76ee394aff31035a98af112c62cd49bb8
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/BTy_joint_visu.wrl
@@ -0,0 +1,1580 @@
+#VRML V2.0 utf8
+
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diff --git a/data/RobotAPI/robots/MMM/models/BUNsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/BUNsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..37502796f16ae10304402b53c7d5ad1e3bc55dea
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/BUNsegment_joint_visu.wrl
@@ -0,0 +1,722 @@
+#VRML V2.0 utf8
+
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+}
diff --git a/data/RobotAPI/robots/MMM/models/HeadSegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/HeadSegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..0bb493ece141d35d883d50680190a755a08b7439
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/HeadSegment_joint_visu.wrl
@@ -0,0 +1,1865 @@
+#VRML V2.0 utf8
+
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+        } ]
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/LAsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LAsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..03c28aafeb37f5e02ac99fbc9912990b608b053f
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LAsegment_joint_visu.wrl
@@ -0,0 +1,3633 @@
+#VRML V2.0 utf8
+
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+                        ccw TRUE
+                        solid FALSE
+                        convex TRUE
+                        creaseAngle 0
+
+                      }
+
+                    }
+
+                }
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+            }
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+        },
+          
+        Group {
+          children 
+            Transform {
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+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+
+            }
+
+        } ]
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/LAy_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LAy_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..d3730736222a06bfca5b4dfff6e9cae9e5e5b664
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LAy_joint_visu.wrl
@@ -0,0 +1,1182 @@
+#VRML V2.0 utf8
+
+
+Group {
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+    Group {
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+              scale 1 1 1
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+              scale 1 1 1
+              scaleOrientation 0 0 1  0
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+              scale 1 1 1
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+              children 
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+                  rotation 0 0 1  1.5707964
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diff --git a/data/RobotAPI/robots/MMM/models/LEsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LEsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..c25804235fc5529a930fc33d42b0da12ca257354
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LEsegment_joint_visu.wrl
@@ -0,0 +1,2212 @@
+#VRML V2.0 utf8
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+}
diff --git a/data/RobotAPI/robots/MMM/models/LFx_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LFx_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f5f1488d5c3949440c9ff0056103b67a6fddfd36
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LFx_joint_visu.wrl
@@ -0,0 +1,760 @@
+#VRML V2.0 utf8
+
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diff --git a/data/RobotAPI/robots/MMM/models/LHsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LHsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..b50961f2e14fd5f2de00503d1e373edec878f8e2
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LHsegment_joint_visu.wrl
@@ -0,0 +1,577 @@
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+                        ccw TRUE
+                        solid FALSE
+                        convex TRUE
+                        creaseAngle 0
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+                      }
+
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+
+                }
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+          
+        Group {
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+        } ]
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/LKsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LKsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..4bcd5f176b2efb22a65e20e0205115d33491c932
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LKsegment_joint_visu.wrl
@@ -0,0 +1,5876 @@
+#VRML V2.0 utf8
+
+
+Group {
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+    Group {
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+          children 
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+            Transform {
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+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
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+              scale 1 1 1
+              scaleOrientation 0 0 1  0
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+                        ccw TRUE
+                        solid FALSE
+                        convex TRUE
+                        creaseAngle 0
+
+                      }
+
+                    }
+
+                }
+
+            }
+
+        },
+          
+        Group {
+          children 
+            Transform {
+              translation 0 0 0
+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+
+            }
+
+        } ]
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/LMrot_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LMrot_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..44aace243d1dcc9f074a49dd49ccf7f6b9200c73
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LMrot_joint_visu.wrl
@@ -0,0 +1,2033 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    Group {
+      children [ 
+        Group {
+          children 
+            Transform {
+              translation -0.025616189 0.073244303 -0.50820541
+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+
+            }
+
+        },
+          
+        Group {
+          children 
+            Transform {
+              translation -0.080227368 0.073244303 -0.51100832
+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+
+            }
+
+        },
+          
+        Group {
+          children 
+            Transform {
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+              rotation -0.85637516 0.067397632 0.51193583  0.30507866
+              scale 1 0.99999994 1
+              scaleOrientation 0.95864666 -8.7611859e-008 0.28459814  0.7853983
+              children 
+                Transform {
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+                  rotation 2.9223846e-009 1.0597391e-009 1  1.5707964
+                  scale 0.016650761 0.01773056 0.02340222
+                  scaleOrientation 0 0 1  0
+                  children 
+                    Shape {
+                      appearance 
+                      Appearance {
+                        material 
+                        Material {
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+
+                        }
+
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+                        ccw TRUE
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+                      }
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+                    }
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+                }
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+            }
+
+        },
+          
+        Group {
+          children 
+            Transform {
+              translation -0.0088000037 0.0537 -0.01440001
+              rotation -0.85637391 -0.067398168 0.51193959  0.3050763
+              scale 0.99999982 0.99999988 1
+              scaleOrientation -0.046425007 0.2069732 -0.97724509  0.21853475
+
+            }
+
+        } ]
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/LSCsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LSCsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f61777e7e186160ef47dbda3f8f3de7946136c10
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LSCsegment_joint_visu.wrl
@@ -0,0 +1,2243 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LSsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LSsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..af61ba99add5b0d41c24652e44c6a34adfef48c9
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LSsegment_joint_visu.wrl
@@ -0,0 +1,1120 @@
+#VRML V2.0 utf8
+
+
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+}
diff --git a/data/RobotAPI/robots/MMM/models/LWsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LWsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..03904f44beaec11bc2178b23f62b4eedb96e9113
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LWsegment_joint_visu.wrl
@@ -0,0 +1,2209 @@
+#VRML V2.0 utf8
+
+
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+                              0.003951787 -0.002426028 -0.12850609,
+                              0.0039622178 0.00274682 -0.12850609 ]
+
+                        }
+                        normal 
+                        USE _+0
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+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/LWy_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LWy_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..79230eb7743eebe34c52aaaa319c258c3899f17b
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LWy_joint_visu.wrl
@@ -0,0 +1,6560 @@
+#VRML V2.0 utf8
+
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+                        ccw TRUE
+                        solid FALSE
+                        convex TRUE
+                        creaseAngle 0
+
+                      }
+
+                    }
+
+                }
+
+            }
+
+        },
+          
+        Group {
+          children 
+            Transform {
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+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+
+            }
+
+        },
+          
+        Group {
+          children 
+            Transform {
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+              rotation 0.70710677 -0.70710677 5.3385147e-008  3.1415925
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+
+            }
+
+        },
+          
+        Group {
+          children 
+            Transform {
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+              rotation 0.70710677 -0.70710677 5.3385147e-008  3.1415925
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+
+            }
+
+        },
+          
+        Group {
+          children 
+            Transform {
+              translation 0 0.013554 -0.048276
+              rotation 0.70710677 -0.70710677 5.3385147e-008  3.1415925
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+
+            }
+
+        },
+          
+        Group {
+          children 
+            Transform {
+              translation 0 0.010584 -0.0078839986
+              rotation 0 1 0  3.1415927
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+
+            }
+
+        },
+          
+        Group {
+          children 
+            Transform {
+              translation 0 -0.0062500001 -0.0087499991
+              rotation 0.70710677 -0.70710677 5.3385147e-008  3.1415925
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+
+            }
+
+        } ]
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/LeftEyeSegmentY_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftEyeSegmentY_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..360d564f37861a12f584001e69f6cac07be145a0
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftEyeSegmentY_joint_visu.wrl
@@ -0,0 +1,1332 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    Group {
+      children 
+        Group {
+          children 
+            Transform {
+              translation 0.015 -0.029999999 -0.40600002
+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              children 
+                Transform {
+                  translation -0.015 0.029999999 0.40599999
+                  rotation 0 0 1  0
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  children [ 
+                    Shape {
+                      appearance 
+                      Appearance {
+                        material 
+                        Material {
+
+                        }
+
+                      }
+                      geometry 
+                      IndexedFaceSet {
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+                        DEF _+0 Coordinate {
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint11y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint11y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a31153375175d9f5adec2ae3d6bb8cc2f7da0dd5
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint11y_joint_visu.wrl
@@ -0,0 +1,1689 @@
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+                            603, 604, 635, -1, 605, 637, 604, -1,
+                            606, 638, 605, -1, 606, 607, 638 ]
+                        ccw TRUE
+                        solid FALSE
+                        convex TRUE
+                        creaseAngle 0
+
+                      }
+
+                    }
+
+                }
+
+            }
+
+        },
+          
+        Group {
+          children 
+            Transform {
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+              rotation 0 0 1  0
+              scale 1 0.99999988 1
+              scaleOrientation 1.0000005 0 0  0.12248919
+
+            }
+
+        } ]
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint12y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint12y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..0e26cef1df44c2b65472619e9b947c2d545e8370
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint12y_joint_visu.wrl
@@ -0,0 +1,1593 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    Group {
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+          children 
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+              children 
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+                  scale 1.0000001 1 0.99999976
+                  scaleOrientation 0.26966411 -0.9593541 -0.08320877  0.24128309
+                  children 
+                    Shape {
+                      appearance 
+                      Appearance {
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+                        Material {
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+
+                        }
+
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint13y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint13y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..5ac88a48701319942c8baeb5f984d2bcca8356ee
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint13y_joint_visu.wrl
@@ -0,0 +1,254 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint21y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint21y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..761a4c27e98bf5115bf1decbaa1da7636e7c7ed2
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint21y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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+        Group {
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+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint22y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint22y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..9caec328ec39fe250ac11add197f51292cd97040
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint22y_joint_visu.wrl
@@ -0,0 +1,1561 @@
+#VRML V2.0 utf8
+
+
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint23y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint23y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e027e63256769b93111d2ff885c5476fd4c250f9
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint23y_joint_visu.wrl
@@ -0,0 +1,254 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint31y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint31y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..9756e737aabaed731f19b07c7253f9caba84646c
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint31y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint32y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint32y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..b8569f35554a342bb233f86f121adda61d1f5a49
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint32y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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+}
diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint33y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint33y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a656178df6631137793bd660bb529579106ea1d2
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint33y_joint_visu.wrl
@@ -0,0 +1,254 @@
+#VRML V2.0 utf8
+
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint40y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint40y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..9f59fdfea5f242059d81880b97214876d9790bbd
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint40y_joint_visu.wrl
@@ -0,0 +1,1320 @@
+#VRML V2.0 utf8
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+                        ccw TRUE
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+                      }
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+            }
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+        } ]
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+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint41y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint41y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..fb4e2a8c1474eafd08b44c0e3e73eae556e643c9
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint41y_joint_visu.wrl
@@ -0,0 +1,1561 @@
+#VRML V2.0 utf8
+
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+              children 
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+                  children 
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint42y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint42y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e9fb3b7718718d637e7459c7f9e488bf83e466c4
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint42y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint43y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint43y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..c5be48d11320ace7b1a61d55ce0f5cf1d2194915
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint43y_joint_visu.wrl
@@ -0,0 +1,254 @@
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+                            12, 82, 30, -1, 29, 7, 91, -1,
+                            16, 87, 38, -1, 11, 84, 36, -1,
+                            15, 45, 83, -1, 86, 7, 95, -1,
+                            24, 60, 88, -1, 20, 58, 89 ]
+                        ccw TRUE
+                        solid FALSE
+                        convex TRUE
+                        creaseAngle 0
+
+                      }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint50y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint50y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..25119badfa2147e244778b0beb08d1ae20718ba7
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint50y_joint_visu.wrl
@@ -0,0 +1,1320 @@
+#VRML V2.0 utf8
+
+
+Group {
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+    Group {
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+          children 
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+              children 
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+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  children 
+                    Shape {
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+                      Appearance {
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint51y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint51y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..d2c166a2fe2c30097886e74ed6f5f66cd2927b1c
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint51y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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+        } ]
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+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint52y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint52y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..4b44d1ff29f84a3edf36f928736dd22fa0f280cf
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint52y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint53y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint53y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..5cb73f14501dc9b7832634c8f44a2ae9060f677d
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint53y_joint_visu.wrl
@@ -0,0 +1,254 @@
+#VRML V2.0 utf8
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diff --git a/data/RobotAPI/robots/MMM/models/LeftHandSegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftHandSegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..6bd34ee5f74e2bcf4a2edaf1ea5169257c947401
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftHandSegment_joint_visu.wrl
@@ -0,0 +1,688 @@
+#VRML V2.0 utf8
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+                        ccw TRUE
+                        solid FALSE
+                        convex TRUE
+                        creaseAngle 0
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+                      }
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+                    }
+
+                }
+
+            }
+
+        } ]
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/RAsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RAsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a76f7e2f1713aa4fac4f4c0f687d18fcec6c4738
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RAsegment_joint_visu.wrl
@@ -0,0 +1,3633 @@
+#VRML V2.0 utf8
+
+
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diff --git a/data/RobotAPI/robots/MMM/models/RAy_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RAy_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..88c03421faa8e96b661f256a535713aec935452c
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RAy_joint_visu.wrl
@@ -0,0 +1,1179 @@
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diff --git a/data/RobotAPI/robots/MMM/models/REsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/REsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..4e9af576b07c4d76e065ce2a412247e78a837a79
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/REsegment_joint_visu.wrl
@@ -0,0 +1,2209 @@
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+                              0.0067211981 0.01122212 0.01019167,
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+                              -1.28504e-005 -2.5494101e-005 0.02018195,
+                              0.0079597831 -4.12974e-005 0.017533001,
+                              0.01339483 -4.5067201e-005 0.01018166,
+                              0.01547443 -3.71981e-005 9.75281e-006,
+                              0.01340776 -1.9367e-005 -0.01016479,
+                              0.0079820147 2.97783e-006 -0.017522991,
+                              0.0039805169 -0.0066794148 -0.017533891,
+                              0.0066800709 -0.01125437 -0.01018327,
+                              0.0077060461 -0.01301026 -1.16052e-005,
+                              0.0066671371 -0.01128005 0.01016318,
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+                              -0.01339471 4.5064698e-005 -0.01018184,
+                              -0.01547437 3.71981e-005 -9.81009e-006 ]
+
+                        }
+                        normal 
+                        DEF _+0 Normal {
+                          vector [  ]
+
+                        }
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+                        }
+                        normal 
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+                        ccw TRUE
+                        solid FALSE
+                        convex TRUE
+                        creaseAngle 0
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+                }
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+        },
+          
+        Group {
+          children 
+            Transform {
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+              scale 1 1 1
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+            }
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+        } ]
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/RFx_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RFx_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..3ede527d2c74091574964d3a937affc57bc84f6d
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RFx_joint_visu.wrl
@@ -0,0 +1,760 @@
+#VRML V2.0 utf8
+
+
+Group {
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+    }
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+}
diff --git a/data/RobotAPI/robots/MMM/models/RHsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RHsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..828cc7e936d1e273a9c909a056eeb1a2d562d43e
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RHsegment_joint_visu.wrl
@@ -0,0 +1,577 @@
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+}
diff --git a/data/RobotAPI/robots/MMM/models/RKsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RKsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..1fb2c0b6cd2615af9a7d3c9a87d9e5a7cc60d8d3
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RKsegment_joint_visu.wrl
@@ -0,0 +1,5870 @@
+#VRML V2.0 utf8
+
+
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+                        ccw TRUE
+                        solid FALSE
+                        convex TRUE
+                        creaseAngle 0
+
+                      }
+
+                    }
+
+                }
+
+            }
+
+        },
+          
+        Group {
+          children 
+            Transform {
+              translation 0 0 0
+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+
+            }
+
+        } ]
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/RMrot_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RMrot_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..89cb59316bd0e1bc9e89508972a3b1fd3a18c2ec
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RMrot_joint_visu.wrl
@@ -0,0 +1,2031 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    Group {
+      children [ 
+        Group {
+          children 
+            Transform {
+              translation 0.08022999 0.073239967 -0.51100999
+              rotation 0 0 1  0
+              scale 0.99999988 0.99999988 1
+              scaleOrientation 0.062344506 0.99775892 0  0.015716327
+
+            }
+
+        },
+          
+        Group {
+          children 
+            Transform {
+              translation 0.025619989 0.073244303 -0.50820541
+              rotation 0 0 1  0
+              scale 0.99999988 0.99999988 1
+              scaleOrientation 0.062344506 0.99775892 0  0.015716327
+
+            }
+
+        },
+          
+        Group {
+          children 
+            Transform {
+              translation -0.055675462 0.11716322 0.49628651
+              rotation -0.85637516 -0.067397632 -0.51193583  0.30507866
+              scale 1 0.99999994 1
+              scaleOrientation 0.95864683 0 -0.2845982  0.7853983
+              children 
+                Transform {
+                  translation 0.051399969 0.023761 -0.50970358
+                  rotation 3.7252903e-009 2.7875627e-016 1  3.1415927
+                  scale 0.99999982 0.99999982 1
+                  scaleOrientation -0.041687537 -1.0006182 0  0.010426846
+                  children 
+                    Shape {
+                      appearance 
+                      Appearance {
+                        material 
+                        Material {
+                          diffuseColor 0.65864992 0.50308388 0.31538299
+
+                        }
+
+                      }
+                      geometry 
+                      IndexedFaceSet {
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+                        ccw TRUE
+                        solid FALSE
+                        convex TRUE
+                        creaseAngle 0
+
+                      }
+
+                    }
+
+                }
+
+            }
+
+        },
+          
+        Group {
+          children 
+            Transform {
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+              scale 0.99999982 1.0000001 1
+              scaleOrientation -0.68518412 -0.15591761 0.71148556  0.16739759
+
+            }
+
+        } ]
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/RSCsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RSCsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..2ce167514e75bce8e660006a4dd5bccdd9280423
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RSCsegment_joint_visu.wrl
@@ -0,0 +1,1756 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    Group {
+      children [ 
+        Group {
+          children 
+            Transform {
+              translation 0.02600825 -0.060727019 0.2398683
+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+
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+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              children 
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+                  rotation 0 0 1  0
+                  scale 0.114384 0.089613251 0.1162791
+                  scaleOrientation 0 0 1  0
+                  children 
+                    Shape {
+                      appearance 
+                      Appearance {
+                        material 
+                        Material {
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+                        ccw TRUE
+                        solid FALSE
+                        convex TRUE
+                        creaseAngle 0
+
+                      }
+
+                    }
+
+                }
+
+            }
+
+        },
+          
+        Group {
+          children 
+            Transform {
+              translation 0 0 0
+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+
+            }
+
+        } ]
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/RSsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RSsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..ebcee9c753c6f916b6fe2f553d8f61d345494f54
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RSsegment_joint_visu.wrl
@@ -0,0 +1,1154 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    Group {
+      children [ 
+        Group {
+          children 
+            Transform {
+              translation 0.1 0 0.28799999
+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+
+            }
+
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+          children 
+            Transform {
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+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+
+            }
+
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+        Group {
+          children 
+            Transform {
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+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              children 
+                Transform {
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+                  rotation 0 0 1  0
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  children 
+                    Shape {
+                      appearance 
+                      Appearance {
+                        material 
+                        Material {
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+
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+
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+}
diff --git a/data/RobotAPI/robots/MMM/models/RWsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RWsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..de36a29791ae72f00b8063cacbbaee73ed75404f
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RWsegment_joint_visu.wrl
@@ -0,0 +1,2209 @@
+#VRML V2.0 utf8
+
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diff --git a/data/RobotAPI/robots/MMM/models/RWy_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RWy_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..70bf3c24bc07f54daf1e3663c048b40a701da670
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RWy_joint_visu.wrl
@@ -0,0 +1,7187 @@
+#VRML V2.0 utf8
+
+
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+                        ccw TRUE
+                        solid FALSE
+                        convex TRUE
+                        creaseAngle 0
+
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+
+                    }
+
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+            }
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+          
+        Group {
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+              scale 1 1 1
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+        Group {
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+              scale 1 1 1
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+        Group {
+          children 
+            Transform {
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+              scale 1 1 1
+              scaleOrientation 0 0 1  0
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+            }
+
+        } ]
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/RightEyeSegmentY_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightEyeSegmentY_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..6059a4503930757d2bf26c28d54c40e896208c01
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightEyeSegmentY_joint_visu.wrl
@@ -0,0 +1,1332 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    Group {
+      children 
+        Group {
+          children 
+            Transform {
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+              scaleOrientation 0 0 1  0
+              children 
+                Transform {
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+                  rotation 0 0 1  0
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  children [ 
+                    Shape {
+                      appearance 
+                      Appearance {
+                        material 
+                        Material {
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+                        }
+
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+                      geometry 
+                      IndexedFaceSet {
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint11y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint11y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..c4968ecc6068f9c355b5b34d7288db8faa96468e
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint11y_joint_visu.wrl
@@ -0,0 +1,1689 @@
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+                        }
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint12y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint12y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..803795ea720010430c845fe4faf60650426df8e1
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint12y_joint_visu.wrl
@@ -0,0 +1,1593 @@
+#VRML V2.0 utf8
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint13y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint13y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..925f4e937c4b0ec57f7053aef31f59c32878a75f
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint13y_joint_visu.wrl
@@ -0,0 +1,254 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint21y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint21y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..03e616a392a4198dca4be6179e7deca9e170ffbc
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint21y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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+                        ccw TRUE
+                        solid FALSE
+                        convex TRUE
+                        creaseAngle 0
+
+                      }
+
+                    }
+
+                }
+
+            }
+
+        },
+          
+        Group {
+          children 
+            Transform {
+              translation 0 0 0.026459999
+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+
+            }
+
+        } ]
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint22y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint22y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f3e301dbef844fae2b8ae2710a2526d9c9868435
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint22y_joint_visu.wrl
@@ -0,0 +1,1561 @@
+#VRML V2.0 utf8
+
+
+Group {
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+          children 
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+              children 
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+                  scaleOrientation 0 0 1  0
+                  children 
+                    Shape {
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+                      Appearance {
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+                        Material {
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+                        }
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+                        }
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint23y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint23y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..ee3d0759a15eda603ed9f11ec2b6edb89eb08407
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint23y_joint_visu.wrl
@@ -0,0 +1,254 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint31y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint31y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..ea670e447483c9ba815a11d54b718c38bcf7e7d2
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint31y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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+                        ccw TRUE
+                        solid FALSE
+                        convex TRUE
+                        creaseAngle 0
+
+                      }
+
+                    }
+
+                }
+
+            }
+
+        },
+          
+        Group {
+          children 
+            Transform {
+              translation 0 0 0.028728001
+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+
+            }
+
+        } ]
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint32y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint32y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..eb2671c7cca13a892d8225d215d6a6a0d412fdda
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint32y_joint_visu.wrl
@@ -0,0 +1,1561 @@
+#VRML V2.0 utf8
+
+
+Group {
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+    Group {
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+          children 
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+              children 
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+                  scaleOrientation 0 0 1  0
+                  children 
+                    Shape {
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+                      Appearance {
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+                        Material {
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint33y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint33y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..d41a059c8ca268fe8d0ca16dc9a806ba3708e464
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint33y_joint_visu.wrl
@@ -0,0 +1,254 @@
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+                            12, 30, 82, -1, 86, 7, 91, -1,
+                            16, 38, 87, -1, 11, 36, 84, -1,
+                            15, 83, 45, -1, 43, 7, 95, -1,
+                            24, 88, 60, -1, 20, 89, 58 ]
+                        ccw TRUE
+                        solid FALSE
+                        convex TRUE
+                        creaseAngle 0
+
+                      }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint40y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint40y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..8cff710bf4602776dc8ac172a194de5abb817931
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint40y_joint_visu.wrl
@@ -0,0 +1,1320 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    Group {
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+          children 
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+              children 
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+                  scale 0.108 0.108 0.108
+                  scaleOrientation 0 0 1  0
+                  children 
+                    Shape {
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+                      Appearance {
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+
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint41y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint41y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..c247c013e5d3df276f55bcb94dfbca973f4ecd46
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint41y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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+    }
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+}
diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint42y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint42y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..c8ec3f0779a35696586d8730be35d2cfd4502a7e
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint42y_joint_visu.wrl
@@ -0,0 +1,1561 @@
+#VRML V2.0 utf8
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint43y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint43y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..4ca184f620f9ffc1818af3e4b266f530a3923c77
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint43y_joint_visu.wrl
@@ -0,0 +1,254 @@
+#VRML V2.0 utf8
+
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint50y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint50y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..38ba1825e882c3dfd59f114e0d1376a0f0bd4c0b
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint50y_joint_visu.wrl
@@ -0,0 +1,1320 @@
+#VRML V2.0 utf8
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+    }
+
+}
diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint51y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint51y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f76cc0003475743e5f423eff462544f4147f8592
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint51y_joint_visu.wrl
@@ -0,0 +1,1561 @@
+#VRML V2.0 utf8
+
+
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint52y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint52y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..ae2a35a7161db1097ddce8f389be15bff3612762
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint52y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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+            }
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+        } ]
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+    }
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+}
diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint53y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint53y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..d60a3ee2c2341ade4ed985bae80c48e5945b8383
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint53y_joint_visu.wrl
@@ -0,0 +1,254 @@
+#VRML V2.0 utf8
+
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+                              -0.028257839 -0.026126441 0.023947651,
+                              0 0.039230339 0.039742108,
+                              2.67997e-005 -0.030572411 0.02412897,
+                              0.03662359 0.000311618 0.03197401,
+                              -0.036605351 0.00031159 0.03197401,
+                              0.040300012 0.039230458 -0.035121851,
+                              -0.040300012 0.039230399 -0.03512197,
+                              -0.028365489 -0.033597998 -0.022343989,
+                              0.028247589 -0.033598062 -0.022344111,
+                              0 0.039230399 -0.035121851,
+                              -2.7067999e-005 -0.039230458 -0.022900101,
+                              0.037129749 -0.00062749098 -0.02749747,
+                              -0.03714823 -0.00062754698 -0.02749747,
+                              0.029162221 -0.018591341 -0.045307212,
+                              -0.029091351 -0.01108735 0.0471639,
+                              0.035668962 -0.01847684 0.002092123,
+                              -2.62633e-005 -0.01991415 -0.051494241,
+                              2.62633e-005 -0.01125872 0.053060051,
+                              0.02920931 -0.01108735 0.047164019,
+                              -0.029280361 -0.018591341 -0.045307212,
+                              -0.0356692 -0.01847684 0.002092123,
+                              -0.034578379 -0.01467937 0.027559809,
+                              0.03465515 -0.01467937 0.02755993,
+                              -0.034686562 -0.01891177 -0.024540721,
+                              0.034609009 -0.01891177 -0.024540721,
+                              0.029133489 0.01925659 0.060715009,
+                              -0.033316959 0.019125041 -0.05656343,
+                              -0.038680669 0.01909798 0.0024942751,
+                              0.03331434 0.019125041 -0.05656343,
+                              -0.02913099 0.018959161 0.0607149,
+                              0.038680669 0.019097921 0.0024942751,
+                              0 0.01908195 -0.062721781,
+                              0 0.019031281 0.067167282,
+                              0.036142111 0.01917976 0.035533842,
+                              -0.036140788 0.01917976 0.035533842,
+                              0.03846949 0.01911216 -0.03072243,
+                              -0.038470801 0.01911211 -0.03072243,
+                              0.02015 0.039230399 -0.069499962,
+                              0.01405918 -0.020580349 0.041577749,
+                              0.02015 0.039230399 0.002577245,
+                              0.01354354 0.038460791 0.06864088,
+                              0.01392161 -0.033915039 -0.04209917,
+                              0.01514202 -0.036562141 0.001701295,
+                              0.01597303 0.001144707 0.059683848,
+                              0.0164147 -0.00073091401 -0.055343561,
+                              0.01473975 -0.02924889 0.02380508,
+                              0.017722121 0.039230399 0.039742172,
+                              0.01464813 -0.037584178 -0.02249717,
+                              0.02015006 0.039230399 -0.035121851,
+                              0.01525682 -0.01094007 0.051591691,
+                              0.01520729 -0.01927918 -0.04996812,
+                              0.01512223 0.01914393 0.065823309,
+                              0.017421599 0.01910346 -0.06150388,
+                              -0.01354348 0.03727138 0.06864088,
+                              -0.0140568 -0.033915099 -0.042099111,
+                              -0.01514226 -0.036562141 0.001701295,
+                              -0.02015 0.039230399 -0.069499962,
+                              -0.01392436 -0.020580349 0.041577809,
+                              -0.02015 0.039230399 0.002577245,
+                              -0.016433289 -0.00073091598 -0.055343501,
+                              -0.015954429 0.001144766 0.059683971,
+                              -0.01772218 0.039230399 0.039742172,
+                              -0.01465415 -0.02924883 0.02380508,
+                              -0.02015 0.039230399 -0.03512197,
+                              -0.0147345 -0.037584178 -0.02249717,
+                              -0.01529276 -0.01927918 -0.049968179,
+                              -0.01517134 -0.01094007 0.051591691,
+                              -0.017422849 0.01910352 -0.06150382,
+                              -0.01512098 0.01899522 0.065823309 ]
+
+                        }
+                        normal 
+                        Normal {
+                          vector [  ]
+
+                        }
+                        coordIndex [ 57, 1, 34, -1, 92, 85, 2, -1,
+                            52, 48, 3, -1, 76, 70, 0, -1,
+                            96, 55, 2, -1, 80, 54, 5, -1,
+                            62, 59, 9, -1, 87, 10, 28, -1,
+                            49, 11, 29, -1, 74, 71, 8, -1,
+                            66, 13, 38, -1, 83, 15, 39, -1,
+                            81, 60, 13, -1, 61, 12, 82, -1,
+                            75, 68, 16, -1, 84, 17, 31, -1,
+                            42, 19, 40, -1, 65, 55, 21, -1,
+                            48, 21, 88, -1, 78, 47, 18, -1,
+                            51, 44, 22, -1, 56, 23, 33, -1,
+                            79, 45, 24, -1, 46, 25, 89, -1,
+                            54, 62, 27, -1, 90, 28, 6, -1,
+                            50, 29, 7, -1, 74, 26, 4, -1,
+                            69, 75, 30, -1, 86, 91, 31, -1,
+                            47, 51, 32, -1, 63, 33, 20, -1,
+                            64, 34, 9, -1, 87, 92, 35, -1,
+                            49, 52, 36, -1, 71, 76, 37, -1,
+                            68, 77, 38, -1, 93, 39, 17, -1,
+                            53, 40, 22, -1, 56, 65, 41, -1,
+                            41, 21, 48, -1, 23, 49, 50, -1,
+                            0, 42, 53, -1, 3, 48, 94, -1,
+                            4, 47, 78, -1, 26, 8, 44, -1,
+                            70, 15, 45, -1, 86, 14, 46, -1,
+                            33, 50, 43, -1, 4, 26, 51, -1,
+                            23, 41, 52, -1, 37, 53, 44, -1,
+                            19, 57, 64, -1, 88, 21, 55, -1,
+                            72, 18, 54, -1, 32, 22, 59, -1,
+                            73, 24, 60, -1, 25, 61, 97, -1,
+                            35, 2, 55, -1, 10, 56, 63, -1,
+                            18, 32, 62, -1, 28, 63, 58, -1,
+                            40, 64, 59, -1, 10, 35, 65, -1,
+                            39, 15, 70, -1, 61, 80, 69, -1,
+                            31, 17, 71, -1, 1, 66, 77, -1,
+                            81, 66, 1, -1, 27, 9, 68, -1,
+                            46, 78, 72, -1, 42, 79, 73, -1,
+                            31, 74, 67, -1, 5, 27, 75, -1,
+                            17, 39, 76, -1, 9, 34, 77, -1,
+                            67, 78, 46, -1, 0, 70, 79, -1,
+                            25, 72, 80, -1, 73, 81, 57, -1,
+                            13, 85, 92, -1, 96, 85, 13, -1,
+                            16, 87, 90, -1, 3, 83, 93, -1,
+                            97, 82, 6, -1, 11, 84, 91, -1,
+                            94, 88, 24, -1, 95, 89, 20, -1,
+                            30, 90, 82, -1, 7, 29, 91, -1,
+                            38, 92, 87, -1, 36, 93, 84, -1,
+                            83, 94, 45, -1, 7, 86, 95, -1,
+                            88, 96, 60, -1, 89, 97, 58, -1,
+                            64, 57, 34, -1, 35, 92, 2, -1,
+                            36, 52, 3, -1, 37, 76, 0, -1,
+                            85, 96, 2, -1, 69, 80, 5, -1,
+                            27, 62, 9, -1, 90, 87, 28, -1,
+                            50, 49, 29, -1, 26, 74, 8, -1,
+                            77, 66, 38, -1, 93, 83, 39, -1,
+                            66, 81, 13, -1, 97, 61, 82, -1,
+                            30, 75, 16, -1, 91, 84, 31, -1,
+                            53, 42, 40, -1, 41, 65, 21, -1,
+                            94, 48, 88, -1, 72, 78, 18, -1,
+                            32, 51, 22, -1, 63, 56, 33, -1,
+                            73, 79, 24, -1, 95, 46, 89, -1,
+                            5, 54, 27, -1, 82, 90, 6, -1,
+                            43, 50, 7, -1, 67, 74, 4, -1,
+                            12, 69, 30, -1, 14, 86, 31, -1,
+                            18, 47, 32, -1, 58, 63, 20, -1,
+                            59, 64, 9, -1, 10, 87, 35, -1,
+                            11, 49, 36, -1, 8, 71, 37, -1,
+                            16, 68, 38, -1, 84, 93, 17, -1,
+                            44, 53, 22, -1, 23, 56, 41, -1,
+                            52, 41, 48, -1, 33, 23, 50, -1,
+                            37, 0, 53, -1, 83, 3, 94, -1,
+                            67, 4, 78, -1, 51, 26, 44, -1,
+                            79, 70, 45, -1, 95, 86, 46, -1,
+                            20, 33, 43, -1, 47, 4, 51, -1,
+                            49, 23, 52, -1, 8, 37, 44, -1,
+                            40, 19, 64, -1, 96, 88, 55, -1,
+                            80, 72, 54, -1, 62, 32, 59, -1,
+                            81, 73, 60, -1, 89, 25, 97, -1,
+                            65, 35, 55, -1, 28, 10, 63, -1,
+                            54, 18, 62, -1, 6, 28, 58, -1,
+                            22, 40, 59, -1, 56, 10, 65, -1,
+                            76, 39, 70, -1, 12, 61, 69, -1,
+                            74, 31, 71, -1, 34, 1, 77, -1,
+                            57, 81, 1, -1, 75, 27, 68, -1,
+                            25, 46, 72, -1, 19, 42, 73, -1,
+                            14, 31, 67, -1, 69, 5, 75, -1,
+                            71, 17, 76, -1, 68, 9, 77, -1,
+                            14, 67, 46, -1, 42, 0, 79, -1,
+                            61, 25, 80, -1, 19, 73, 57, -1,
+                            38, 13, 92, -1, 60, 96, 13, -1,
+                            30, 16, 90, -1, 36, 3, 93, -1,
+                            58, 97, 6, -1, 29, 11, 91, -1,
+                            45, 94, 24, -1, 43, 95, 20, -1,
+                            12, 30, 82, -1, 86, 7, 91, -1,
+                            16, 38, 87, -1, 11, 36, 84, -1,
+                            15, 83, 45, -1, 43, 7, 95, -1,
+                            24, 88, 60, -1, 20, 89, 58 ]
+                        ccw TRUE
+                        solid FALSE
+                        convex TRUE
+                        creaseAngle 0
+
+                      }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
index 378150c764291a468a9440b4f726e80b6b254c70..b19b39b26377684771a9b575e1efe545a03d5db1 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
@@ -81,7 +81,7 @@ namespace armarx
             ARMARX_VERBOSE << "Failed loading robot from file " << robotFile;
         }
 
-        string robotNodeSetName = getProperty<std::string>("RobotNodeSetName").getValue();
+        robotNodeSetName = getProperty<std::string>("RobotNodeSetName").getValue();
 
 
         if (robotNodeSetName == "")
@@ -376,6 +376,16 @@ namespace armarx
         }
 
     }
+
+    string RobotStateComponent::getRobotNodeSetName(const Current&) const
+    {
+        if (robotNodeSetName.empty())
+        {
+            throw NotInitializedException("RobotNodeSetName is empty", "getRobotNodeSetName");
+        }
+        return robotNodeSetName;
+    }
+
 }
 
 
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.h b/source/RobotAPI/components/RobotState/RobotStateComponent.h
index 91699e8625fd30cbb6348266cd337b521c99877d..b7f35b5f92ccb213510f2ac03d180a4fe1b7882e 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.h
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.h
@@ -59,7 +59,7 @@ namespace armarx
     /**
      * \defgroup Component-RobotStateComponent RobotStateComponent
      * \ingroup RobotAPI-Components
-     * \brief Maintains a robot representation based on VirtualRobot (see [Simox](http://simox.sourceforge.net/)).
+     * \brief Maintains a robot representation based on VirtualRobot (see [Simox](http://gitlab.com/Simox/simox)).
      *
      * The robot can be loaded from a Simox robot XML file.
      * Upon request, an Ice proxy to a shared instance of this internal robot
@@ -110,6 +110,12 @@ namespace armarx
          */
         virtual std::string getRobotName(const Ice::Current&) const;
 
+        /**
+         *
+         * \return  The name of this robot instance.
+         */
+        virtual std::string getRobotNodeSetName(const Ice::Current&) const;
+
         /**
          * Create an instance of RobotStatePropertyDefinitions.
          */
@@ -162,6 +168,8 @@ namespace armarx
         std::map<long, RobotStateConfig> history;
         size_t historyLength;
 
+        std::string robotNodeSetName;
+
 
     };
 
diff --git a/source/RobotAPI/components/units/HeadIKUnit.cpp b/source/RobotAPI/components/units/HeadIKUnit.cpp
index c7ccaca529f6c7569d56d6e5880078c99b6fbaaf..953fc2bd2e690658c6e8ce11dd7cb7e79f684200 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.cpp
+++ b/source/RobotAPI/components/units/HeadIKUnit.cpp
@@ -114,7 +114,11 @@ namespace armarx
     {
         ScopedLock lock(accessMutex);
 
-        this->robotNodeSetName = robotNodeSetName;
+        this->robotNodeSetNames = armarx::Split(robotNodeSetName, ",");
+        for (auto& setName : robotNodeSetNames)
+        {
+            boost::trim(setName);
+        }
         this->targetPosition->x = targetPosition->x;
         this->targetPosition->y = targetPosition->y;
         this->targetPosition->z = targetPosition->z;
@@ -247,53 +251,95 @@ namespace armarx
         if (doCalculation)
         {
             ScopedLock lock(accessMutex);
-            RemoteRobot::synchronizeLocalClone(localRobot, robotStateComponentPrx);
-            //VirtualRobot::RobotPtr robotSnapshot(new RemoteRobot(remoteRobotPrx));
-            //localRobot->setConfig(robotSnapshot->getConfig());
 
-            VirtualRobot::RobotNodeSetPtr kinematicChain = localRobot->getRobotNodeSet(robotNodeSetName);
-            VirtualRobot::RobotNodePrismaticPtr virtualJoint;
-
-            for (unsigned int i = 0; i < kinematicChain->getSize(); i++)
+            VirtualRobot::RobotNodeSetPtr kinematicChain;
+            bool foundSolution = false;
+            NameValueMap targetJointAngles;
+            NameControlModeMap controlModes;
+            std::set<std::string> possiblyInvolvedJointNames;
+            //            // set all involved joints initially to zero
+            for (auto robotNodeSetName : robotNodeSetNames)
             {
-                if (kinematicChain->getNode(i)->getName().compare("VirtualCentralGaze") == 0)
+                kinematicChain = localRobot->getRobotNodeSet(robotNodeSetName);
+                for (unsigned int i = 0; i < kinematicChain->getSize(); i++)
                 {
-                    virtualJoint = boost::dynamic_pointer_cast<VirtualRobot::RobotNodePrismatic>(kinematicChain->getNode(i));
+                    possiblyInvolvedJointNames.insert(kinematicChain->getNode(i)->getName());
+                    //                                kinematicChain->getNode(i)->setJointValue(0.0f);
+                    //                                targetJointAngles[kinematicChain->getNode(i)->getName()] = 0.0f;
+                    //                                controlModes[kinematicChain->getNode(i)->getName()] = ePositionControl;
                 }
             }
-
-            ARMARX_DEBUG << deactivateSpam(5) << VAROUT(virtualJoint->getName()) << " " << VAROUT(kinematicChain->getName());
-            VirtualRobot::GazeIK ikSolver(kinematicChain, virtualJoint);
-            ikSolver.enableJointLimitAvoidance(true);
-            ikSolver.setup(10, 30, 20);
-            //            ikSolver.setVerbose(true);
-            auto globalPos = targetPosition->toGlobal(localRobot);
-            ARMARX_DEBUG << "Calculating IK for target position " << globalPos->output();
-            auto start = IceUtil::Time::now();
-            bool solutionFound = ikSolver.solve(globalPos->toEigen());
-            auto duration = (IceUtil::Time::now() - start);
-
-            if (duration.toMilliSeconds() > 500)
+            float error = -1;
+            //VirtualRobot::RobotPtr robotSnapshot(new RemoteRobot(remoteRobotPrx));
+            //localRobot->setConfig(robotSnapshot->getConfig());
+            std::string selectedRobotNodeSetName;
+            for (auto robotNodeSetName : robotNodeSetNames)
             {
-                ARMARX_INFO << "Calculating Gaze IK took " << duration.toMilliSeconds() << " ms";
-            }
+                RemoteRobot::synchronizeLocalClone(localRobot, robotStateComponentPrx);
+                kinematicChain = localRobot->getRobotNodeSet(robotNodeSetName);
 
-            if (!solutionFound)
-            {
+                VirtualRobot::RobotNodePrismaticPtr virtualJoint;
+
+                for (unsigned int i = 0; i < kinematicChain->getSize(); i++)
+                {
+                    if (kinematicChain->getNode(i)->getName().compare("VirtualCentralGaze") == 0)
+                    {
+                        virtualJoint = boost::dynamic_pointer_cast<VirtualRobot::RobotNodePrismatic>(kinematicChain->getNode(i));
+                    }
+
+                }
+                // set other not-used joints to 0
+                for (auto& nodeName : possiblyInvolvedJointNames)
+                {
+                    if (!kinematicChain->hasRobotNode(nodeName))
+                    {
+                        localRobot->getRobotNode(nodeName)->setJointValue(0.0f);
+                        targetJointAngles[nodeName] = 0.0f;
+                        controlModes[nodeName] = ePositionControl;
+                    }
+                }
+
+                ARMARX_DEBUG << deactivateSpam(5) << VAROUT(virtualJoint->getName()) << " " << VAROUT(kinematicChain->getName());
+                VirtualRobot::GazeIK ikSolver(kinematicChain, virtualJoint);
+                ikSolver.enableJointLimitAvoidance(true);
+                ikSolver.setup(10, 30, 20);
+                //            ikSolver.setVerbose(true);
+                auto globalPos = targetPosition->toGlobal(localRobot);
+                ARMARX_DEBUG << "Calculating IK for target position " << globalPos->output();
+                auto start = IceUtil::Time::now();
+                bool solutionFound = ikSolver.solve(globalPos->toEigen());
+                auto duration = (IceUtil::Time::now() - start);
+
+                if (duration.toMilliSeconds() > 500)
+                {
+                    ARMARX_INFO << "Calculating Gaze IK took " << duration.toMilliSeconds() << " ms";
+                }
                 Eigen::Vector3f position = globalPos->toEigen() - kinematicChain->getTCP()->getGlobalPose().block(0, 3, 3, 1);
-                float error = position.norm();
-                if (error < 200)
+                error = position.norm();
+                if (!solutionFound)
                 {
-                    ARMARX_INFO << "IKSolver found no solution! applying best solution with " << error << "mm error";
+
+                    if (error < 150)
+                    {
+                        foundSolution = true;
+                        selectedRobotNodeSetName = robotNodeSetName;
+                        ARMARX_INFO << "IKSolver found no solution! applying best solution with " << error << "mm error";
+                        break;
+                    }
                 }
                 else
                 {
-                    ARMARX_WARNING << "IKSolver found no solution!  " << error << "mm error";
-                    return;
+                    foundSolution = true;
+                    selectedRobotNodeSetName = robotNodeSetName;
+                    break;
                 }
             }
-
-            ARMARX_DEBUG << "Solution found";
+            if (!foundSolution)
+            {
+                ARMARX_WARNING << "IKSolver found no solution!  " << error << "mm error";
+                return;
+            }
+            ARMARX_DEBUG << "Solution found with " << selectedRobotNodeSetName << " - remaining error: " << error << " mm";
 
             if (drawer && localRobot->hasRobotNode("Cameras") && getProperty<bool>("VisualizeIKTarget").getValue())
             {
@@ -304,10 +350,6 @@ namespace armarx
                                                 17);
             }
 
-
-            NameValueMap targetJointAngles;
-            NameControlModeMap controlModes;
-
             for (int i = 0; i < (signed int)kinematicChain->getSize(); i++)
             {
                 if (kinematicChain->getNode(i)->getName().compare("VirtualCentralGaze") != 0)
diff --git a/source/RobotAPI/components/units/HeadIKUnit.h b/source/RobotAPI/components/units/HeadIKUnit.h
index f76b57c7db2cfe8f1980eda8a124b8b741b6fb90..a1732449bed4bbf05c3bf4884d4534b0b742ec44 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.h
+++ b/source/RobotAPI/components/units/HeadIKUnit.h
@@ -110,7 +110,7 @@ namespace armarx
         VirtualRobot::RobotPtr localRobot;
         DebugDrawerInterfacePrx drawer;
 
-        std::string robotNodeSetName;
+        Ice::StringSeq robotNodeSetNames;
         FramedPositionPtr targetPosition;
         bool newTargetSet;
 
diff --git a/source/RobotAPI/components/units/KinematicUnit.cpp b/source/RobotAPI/components/units/KinematicUnit.cpp
index d5c08b7a95a0dd28558f217e1ff5862c2c087854..a0650298d1266b77c71a7978c841bf66cba2c510 100644
--- a/source/RobotAPI/components/units/KinematicUnit.cpp
+++ b/source/RobotAPI/components/units/KinematicUnit.cpp
@@ -29,9 +29,11 @@
 #include <VirtualRobot/VirtualRobotException.h>
 #include <VirtualRobot/RuntimeEnvironment.h>
 #include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/application/Application.h>
 #include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
 
 using namespace armarx;
+using namespace std;
 
 
 void KinematicUnit::onInitComponent()
@@ -39,6 +41,7 @@ void KinematicUnit::onInitComponent()
     // read names of kinematic chain elements belonging to this unit from XML and setup a map of all joints
     // the kinematic chain elements belonging to this unit are defined in a RobotNodeSet
     std::string robotFile = getProperty<std::string>("RobotFileName").getValue();
+    relativeRobotFile = robotFile;
     robotNodeSetName = getProperty<std::string>("RobotNodeSetName").getValue();
 
     std::string project = getProperty<std::string>("RobotFileNameProject").getValue();
@@ -124,6 +127,57 @@ void KinematicUnit::releaseKinematicUnit(const StringSequence& nodes, const Ice:
     SensorActorUnit::release(c);
 }
 
+
+std::string KinematicUnit::getRobotFilename(const Ice::Current&) const
+{
+    return relativeRobotFile;
+}
+
+std::vector<std::string> KinematicUnit::getArmarXPackages(const Ice::Current&) const
+{
+    std::vector<string> result;
+    auto packages = armarx::Application::GetProjectDependencies();
+    packages.push_back(Application::GetProjectName());
+
+    for (const std::string & projectName : packages)
+    {
+        if (projectName.empty())
+        {
+            continue;
+        }
+
+        result.push_back(projectName);
+    }
+
+    return result;
+}
+
+std::string KinematicUnit::getRobotName(const Ice::Current&) const
+{
+    if (robot)
+    {
+        return robot->getName();
+    }
+    else
+    {
+        throw NotInitializedException("Robot Ptr is NULL", "getName");
+    }
+}
+
+std::string KinematicUnit::getRobotNodeSetName(const Ice::Current&) const
+{
+    if (robotNodeSetName.empty())
+    {
+        throw NotInitializedException("RobotNodeSetName is empty", "getRobotNodeSetName");
+    }
+    return robotNodeSetName;
+}
+
+std::string KinematicUnit::getReportTopicName(const Ice::Current&) const
+{
+    return listenerName;
+}
+
 PropertyDefinitionsPtr KinematicUnit::createPropertyDefinitions()
 {
     return PropertyDefinitionsPtr(new KinematicUnitPropertyDefinitions(
diff --git a/source/RobotAPI/components/units/KinematicUnit.h b/source/RobotAPI/components/units/KinematicUnit.h
index c3dd87e08a5b36e1c50c3bdcb14164b162aef89e..5a2119816f132b8e9d0ceefdfff482b12cdf6074 100644
--- a/source/RobotAPI/components/units/KinematicUnit.h
+++ b/source/RobotAPI/components/units/KinematicUnit.h
@@ -85,6 +85,34 @@ namespace armarx
         virtual void onConnectComponent();
         virtual void onExitComponent();
 
+        /**
+         * \return the robot xml filename as specified in the configuration
+         */
+        virtual std::string getRobotFilename(const Ice::Current&) const;
+
+        /*!
+         * \brief getArmarXPackages
+         * \return All dependent packages, which might contain a robot file.
+         */
+        virtual std::vector< std::string > getArmarXPackages(const Ice::Current&) const;
+
+        /**
+         *
+         * \return  The name of this robot instance.
+         */
+        virtual std::string getRobotName(const Ice::Current&) const;
+        /**
+         *
+         * \return  The name of this robot instance.
+         */
+        virtual std::string getRobotNodeSetName(const Ice::Current&) const;
+
+        /**
+         *
+         * \return  The name of the report topic
+         */
+        virtual std::string getReportTopicName(const Ice::Current&) const;
+
         virtual void onInitKinematicUnit() = 0;
         virtual void onStartKinematicUnit() = 0;
         virtual void onExitKinematicUnit() = 0;
@@ -105,6 +133,7 @@ namespace armarx
     protected:
         KinematicUnitListenerPrx listenerPrx;
 
+        std::string relativeRobotFile;
         VirtualRobot::RobotPtr robot;
         std::string robotNodeSetName;
         std::string listenerName;
diff --git a/source/RobotAPI/components/units/TCPControlUnit.cpp b/source/RobotAPI/components/units/TCPControlUnit.cpp
index ccc88e9923269ba39be462610c3ca4fabbb92eaf..f21bd0df271cd8900bec881e4e38c9750fe402eb 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/components/units/TCPControlUnit.cpp
@@ -74,14 +74,14 @@ namespace armarx
 
 
         //remoteRobotPrx = robotStateComponentPrx->getSynchronizedRobot();
-
+        robotName = robotStateComponentPrx->getRobotName();
         localRobot = RemoteRobot::createLocalClone(robotStateComponentPrx);
         jointExistenceCheckRobot = RemoteRobot::createLocalClone(robotStateComponentPrx);
 
         localReportRobot = localRobot->clone(localRobot->getName());
 
         std::string nodesetsString = getProperty<std::string>("TCPsToReport").getValue();
-
+        nodesToReport.clear();
         if (!nodesetsString.empty())
         {
             if (nodesetsString == "*")
@@ -1356,7 +1356,7 @@ void armarx::TCPControlUnit::reportJointAngles(const NameValueMap& jointAngles,
         RobotNodePtr& node = nodesToReport.at(i);
         const std::string& tcpName  = node->getName();
         const Eigen::Matrix4f& currentPose = node->getPoseInRootFrame();
-        tcpPoses[tcpName] = new FramedPose(currentPose, rootFrame, localReportRobot->getName());
+        tcpPoses[tcpName] = new FramedPose(currentPose, rootFrame, robotName);
 
     }
 
@@ -1376,7 +1376,7 @@ void armarx::TCPControlUnit::reportJointVelocities(const NameValueMap& jointVel,
 
     if (!localVelReportRobot)
     {
-        localVelReportRobot = localReportRobot->clone(localReportRobot->getName());
+        localVelReportRobot = localReportRobot->clone(robotName);
     }
 
     //    ARMARX_DEBUG << jointVel;    FramedPoseBaseMap tcpPoses;
@@ -1391,7 +1391,7 @@ void armarx::TCPControlUnit::reportJointVelocities(const NameValueMap& jointVel,
         RobotNodePtr node = nodesToReport.at(i);
         const std::string& tcpName  = node->getName();
         const Eigen::Matrix4f& currentPose = node->getPoseInRootFrame();
-        tcpPoses[tcpName] = new FramedPose(currentPose, rootFrame, localReportRobot->getName());
+        tcpPoses[tcpName] = new FramedPose(currentPose, rootFrame, robotName);
 
     }
 
@@ -1427,7 +1427,7 @@ void armarx::TCPControlUnit::reportJointVelocities(const NameValueMap& jointVel,
         VirtualRobot::MathTools::eigen4f2rpy(mat, rpy);
         //        Eigen::AngleAxisf orient(rot.block<3,3>(0,0));
 
-        tcpOrientationVelocities[tcpName] = new FramedDirection(rpy / tDelta, rootFrame, localReportRobot->getName());
+        tcpOrientationVelocities[tcpName] = new FramedDirection(rpy / tDelta, rootFrame, robotName);
 
 
     }
diff --git a/source/RobotAPI/components/units/TCPControlUnit.h b/source/RobotAPI/components/units/TCPControlUnit.h
index 7611446f35eb6ab1057d8268aebece3cdcf4f75f..10d8bde11f64aa0baf168d2e7c167e1d2d8603e0 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.h
+++ b/source/RobotAPI/components/units/TCPControlUnit.h
@@ -194,7 +194,7 @@ namespace armarx
 
         PeriodicTask<TCPControlUnit>::pointer_type execTask;
         PeriodicTask<TCPControlUnit>::pointer_type topicTask;
-
+        std::string robotName;
         RobotStateComponentInterfacePrx robotStateComponentPrx;
         KinematicUnitInterfacePrx kinematicUnitPrx;
         VirtualRobot::RobotPtr jointExistenceCheckRobot;
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.cpp
index 80817194c02ed3b42a3d0b7e21a16293bc45348e..01596e7e599a2fe8cf22a57e095e5fae4ed1336a 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.cpp
@@ -35,6 +35,8 @@
 
 #include <ArmarXGui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
 
+#include <RobotAPI/interface/core/RobotState.h>
+
 using namespace armarx;
 
 KinematicUnitConfigDialog::KinematicUnitConfigDialog(QWidget* parent) :
@@ -43,24 +45,14 @@ KinematicUnitConfigDialog::KinematicUnitConfigDialog(QWidget* parent) :
     uuid(IceUtil::generateUUID())
 {
     ui->setupUi(this);
-    fileDialog = new QFileDialog(parent);
-    fileDialog->setModal(true);
-    fileDialog->setFileMode(QFileDialog::ExistingFiles);
-    QStringList fileTypes;
-    fileTypes << tr("XML (*.xml)")
-              << tr("All Files (*.*)");
-    fileDialog->setNameFilters(fileTypes);
-    connect(ui->btnSelectModelFile, SIGNAL(clicked()), fileDialog, SLOT(show()));
-    connect(fileDialog, SIGNAL(accepted()), this, SLOT(modelFileSelected()));
+
     connect(this->ui->buttonBox, SIGNAL(accepted()), this, SLOT(verifyConfig()));
     ui->buttonBox->button(QDialogButtonBox::Ok)->setDefault(true);
     proxyFinder = new IceProxyFinder<KinematicUnitInterfacePrx>(this);
     proxyFinder->setSearchMask("*");
-    ui->gridLayout->addWidget(proxyFinder, 2, 1, 1, 2);
-    topicFinder = new IceTopicFinder(this);
-    topicFinder->setSearchMask("*RobotState");
-    ui->gridLayout->addWidget(topicFinder, 3, 1, 1, 2);
+    ui->gridLayout->addWidget(proxyFinder, 0, 1, 1, 2);
 
+    connect(proxyFinder->getUi()->cbProxyName, SIGNAL(currentIndexChanged(int)), this, SLOT(selectionChanged(int)));
 }
 
 KinematicUnitConfigDialog::~KinematicUnitConfigDialog()
@@ -71,7 +63,6 @@ KinematicUnitConfigDialog::~KinematicUnitConfigDialog()
 void KinematicUnitConfigDialog::onInitComponent()
 {
     proxyFinder->setIceManager(getIceManager());
-    topicFinder->setIceManager(getIceManager());
 }
 
 void KinematicUnitConfigDialog::onConnectComponent()
@@ -85,28 +76,46 @@ void KinematicUnitConfigDialog::onExitComponent()
 
 }
 
-
-
-void KinematicUnitConfigDialog::modelFileSelected()
-{
-    ui->editRobotFilepath->setText(fileDialog->selectedFiles()[0]);
-}
-
 void KinematicUnitConfigDialog::verifyConfig()
 {
     if (proxyFinder->getSelectedProxyName().trimmed().length() == 0)
     {
         QMessageBox::critical(this, "Invalid Configuration", "The proxy name must not be empty");
     }
-    else if (topicFinder->getSelectedProxyName().trimmed().length() == 0)
-    {
-        QMessageBox::critical(this, "Invalid Configuration", "The topic name must not be empty");
-    }
     else
     {
         this->accept();
     }
 }
 
+void KinematicUnitConfigDialog::selectionChanged(int nr)
+{
+    ARMARX_LOG << "Selected entry:" << nr;
+    ui->labelTopic->setText("");
+    ui->labelRobotModel->setText("");
+    ui->labelRNS->setText("");
+    if (nr < 0)
+    {
+        return;
+    }
+    std::string kinematicUnitName = proxyFinder->getUi()->cbProxyName->currentText().toStdString();
+    try
+    {
+        ARMARX_INFO << "Connecting to KinematicUnitProxy " << kinematicUnitName;
+        KinematicUnitInterfacePrx kinematicUnitInterfacePrx = getProxy<KinematicUnitInterfacePrx>(kinematicUnitName);
+        std::string topicName = kinematicUnitInterfacePrx->getReportTopicName();
+        std::string robotNodeSetName = kinematicUnitInterfacePrx->getRobotNodeSetName();
+        std::string rfile = kinematicUnitInterfacePrx->getRobotFilename();
+        ui->labelTopic->setText(QString(topicName.c_str()));
+        ui->labelRobotModel->setText(QString(rfile.c_str()));
+        ui->labelRNS->setText(QString(robotNodeSetName.c_str()));
+    }
+    catch (...)
+    {
+        ARMARX_INFO << "Could not connect to KinematicUnitProxy " << kinematicUnitName;
+    }
+
+}
+
 
 
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h
index a6990bacf5483eea1b60311a1aff04bae05fecf3..9e0ab1ea9821fe878dd71014dbc54abef8a6d026 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h
@@ -61,14 +61,14 @@ namespace armarx
     signals:
 
     public slots:
-        void modelFileSelected();
+        //void modelFileSelected();
         void verifyConfig();
+
+        void selectionChanged(int nr);
     private:
 
         IceProxyFinderBase* proxyFinder;
-        IceProxyFinderBase* topicFinder;
         Ui::KinematicUnitConfigDialog* ui;
-        QFileDialog* fileDialog;
         std::string uuid;
         friend class KinematicUnitWidgetController;
     };
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.ui b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.ui
index c5a20a98191b931e6b90e7d334f3253c71b22bf9..499209e79c2beb0a0f1c9e331d77de3dd63c4072 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.ui
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>527</width>
-    <height>133</height>
+    <width>464</width>
+    <height>190</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -35,65 +35,69 @@
    </item>
    <item row="0" column="0">
     <layout class="QGridLayout" name="gridLayout">
-     <item row="2" column="0">
-      <widget class="QLabel" name="labelKinematicUnitName">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
+     <property name="spacing">
+      <number>5</number>
+     </property>
+     <item row="1" column="0">
+      <widget class="QLabel" name="labelRobotFilepath">
        <property name="text">
-        <string>Kinematic unit name</string>
+        <string>Robot Model</string>
        </property>
       </widget>
      </item>
-     <item row="1" column="1" colspan="2">
-      <widget class="QLineEdit" name="ediRobotNodeSetName"/>
-     </item>
-     <item row="0" column="2">
-      <widget class="QToolButton" name="btnSelectModelFile">
+     <item row="4" column="1">
+      <widget class="QLabel" name="labelTopic">
        <property name="text">
-        <string>...</string>
-       </property>
-       <property name="icon">
-        <iconset>
-         <normaloff>:/icons/document-open-folder.png</normaloff>:/icons/document-open-folder.png</iconset>
+        <string>&lt;not set&gt;</string>
        </property>
       </widget>
      </item>
-     <item row="0" column="1">
-      <widget class="QLineEdit" name="editRobotFilepath"/>
+     <item row="2" column="0">
+      <widget class="QLabel" name="labelRobotNodeSetName">
+       <property name="text">
+        <string>Robot Node Set</string>
+       </property>
+      </widget>
      </item>
-     <item row="0" column="0">
-      <widget class="QLabel" name="labelRobotFilepath">
+     <item row="2" column="1">
+      <widget class="QLabel" name="labelRNS">
        <property name="text">
-        <string>Robot model filepath</string>
+        <string>&lt;not set&gt;</string>
        </property>
       </widget>
      </item>
-     <item row="1" column="0">
-      <widget class="QLabel" name="labelRobotNodeSetName">
+     <item row="1" column="1">
+      <widget class="QLabel" name="labelRobotModel">
        <property name="text">
-        <string>Robot nodeset name</string>
+        <string>&lt;not set&gt;</string>
        </property>
       </widget>
      </item>
-     <item row="3" column="0">
+     <item row="4" column="0">
       <widget class="QLabel" name="label">
        <property name="text">
         <string>RobotState Topic Name</string>
        </property>
       </widget>
      </item>
+     <item row="0" column="0">
+      <widget class="QLabel" name="labelKinematicUnitName">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>Kinematic unit name</string>
+       </property>
+      </widget>
+     </item>
     </layout>
    </item>
   </layout>
  </widget>
  <tabstops>
-  <tabstop>editRobotFilepath</tabstop>
-  <tabstop>btnSelectModelFile</tabstop>
-  <tabstop>ediRobotNodeSetName</tabstop>
   <tabstop>buttonBox</tabstop>
  </tabstops>
  <resources/>
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 636b567c2345a9f74b66b1422e80e7c846b7b4fb..fc779ad5e1a3bd95f6c884e8b704bb9a73288399 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -4,6 +4,7 @@
 #include <RobotAPI/gui-plugins/KinematicUnitPlugin/ui_KinematicUnitConfigDialog.h>
 
 #include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
+#include <ArmarXCore/core/application/Application.h>
 #include <ArmarXCore/core/system/ArmarXDataPath.h>
 #include <ArmarXCore/core/ArmarXObjectScheduler.h>
 #include <ArmarXCore/core/ArmarXManager.h>
@@ -34,10 +35,10 @@
 #include <boost/filesystem.hpp>
 
 
-#define KINEMATIC_UNIT_FILE_DEFAULT std::string("RobotAPI/robots/Armar3/ArmarIII.xml")
-#define KINEMATIC_UNIT_FILE_DEFAULT_PACKAGE std::string("RobotAPI")
+//#define KINEMATIC_UNIT_FILE_DEFAULT std::string("RobotAPI/robots/Armar3/ArmarIII.xml")
+//#define KINEMATIC_UNIT_FILE_DEFAULT_PACKAGE std::string("RobotAPI")
 #define KINEMATIC_UNIT_NAME_DEFAULT "Robot"
-#define TOPIC_NAME_DEFAULT "RobotState"
+//#define TOPIC_NAME_DEFAULT "RobotState"
 
 using namespace armarx;
 using namespace VirtualRobot;
@@ -69,46 +70,12 @@ void KinematicUnitWidgetController::onInitComponent()
     ARMARX_INFO << flush;
     verbose = true;
 
-    //    // parsing properties from ice config
-    //    kinematicUnitFile = getProperty<std::string>("RobotFileName").getValue();
-    //    robotNodeSetName = getProperty<std::string>("RobotNodeSetName").getValue();
-    //    kinematicUnitName = getProperty<std::string>("KinematicUnitName").getValue();
 
-    ARMARX_INFO << "RobotFileName: " << kinematicUnitFile << flush;
-    ARMARX_INFO << "RobotNodeSetName: " << robotNodeSetName << flush;
-    ARMARX_INFO << "KinematicUnitName: " << kinematicUnitName << flush;
-
-    //   VirtualRobot::RobotPtr robot = VirtualRobot::RobotIO::loadRobot(robotFile, VirtualRobot::RobotIO::eStructure);
-
-    // init
-    robot = loadRobotFile(kinematicUnitFile);
-
-    if (!robot)
-    {
-        getObjectScheduler()->terminate();
-
-        if (getWidget()->parentWidget())
-        {
-            getWidget()->parentWidget()->close();
-        }
-
-        std::cout << "returning" << std::endl;
-        return;
-    }
-
-    rootVisu = new SoSeparator();
+    rootVisu = new SoSeparator;
     rootVisu->ref();
-
-    kinematicUnitVisualization = getCoinVisualization(robot);
-    kinematicUnitNode = kinematicUnitVisualization->getCoinVisualization();
-    rootVisu->addChild(kinematicUnitNode);
-
-    robotNodeSet = getRobotNodeSet(robot, robotNodeSetName);
-
-    if (!robotNodeSet)
-    {
-        ARMARX_ERROR << "Failed to obtain RobotNodeSet '" << robotNodeSetName << "'";
-    }
+    robotVisu = new SoSeparator;
+    robotVisu->ref();
+    rootVisu->addChild(robotVisu);
 
     // create the debugdrawer component
     std::string debugDrawerComponentName = "KinemticUnitGUIDebugDrawer_" + getName();
@@ -128,6 +95,7 @@ void KinematicUnitWidgetController::onInitComponent()
     ArmarXManagerPtr m = getArmarXManager();
     m->addObject(debugDrawer, false);
 
+
     {
         boost::recursive_mutex::scoped_lock lock(*mutex3D);
         debugLayerVisu = new SoSeparator();
@@ -136,40 +104,133 @@ void KinematicUnitWidgetController::onInitComponent()
         rootVisu->addChild(debugLayerVisu);
     }
 
-
     string widgetLabel = "KinematicUnit: " + kinematicUnitName;
     ui.labelKinematicUnitName->setText(QString(widgetLabel.c_str()));
-    initGUIComboBox(robotNodeSet); // init the pull down menu (QT: ComboBox)
-    initGUIJointListTable(robotNodeSet);
 
     connectSlots();
 
-    usingTopic(topicName);
-
     usingProxy(kinematicUnitName);
 }
 
 void KinematicUnitWidgetController::onConnectComponent()
 {
-    if (!robot)
+    kinematicUnitInterfacePrx = getProxy<KinematicUnitInterfacePrx>(kinematicUnitName);
+    topicName = kinematicUnitInterfacePrx->getReportTopicName();
+
+    robotVisu->removeAllChildren();
+
+    robot.reset();
+
+    std::string rfile;
+    StringList includePaths;
+
+    // get robot filename
+    try
+    {
+
+        StringList packages = kinematicUnitInterfacePrx->getArmarXPackages();
+        packages.push_back(Application::GetProjectName());
+        ARMARX_VERBOSE << "ArmarX packages " << packages;
+
+        for (const std::string & projectName : packages)
+        {
+            if (projectName.empty())
+            {
+                continue;
+            }
+
+            CMakePackageFinder project(projectName);
+            StringList projectIncludePaths;
+            auto pathsString = project.getDataDir();
+            ARMARX_VERBOSE << "Data paths of ArmarX package " << projectName << ": " << pathsString;
+            boost::split(projectIncludePaths,
+                         pathsString,
+                         boost::is_any_of(";,"),
+                         boost::token_compress_on);
+            ARMARX_VERBOSE << "Result: Data paths of ArmarX package " << projectName << ": " << projectIncludePaths;
+            includePaths.insert(includePaths.end(), projectIncludePaths.begin(), projectIncludePaths.end());
+        }
+
+        rfile = kinematicUnitInterfacePrx->getRobotFilename();
+        ARMARX_VERBOSE << "Relative robot file " << rfile;
+        ArmarXDataPath::getAbsolutePath(rfile, rfile, includePaths);
+        ARMARX_VERBOSE << "Absolute robot file " << rfile;
+
+        robotNodeSetName = kinematicUnitInterfacePrx->getRobotNodeSetName();
+    }
+    catch (...)
+    {
+        ARMARX_ERROR << "Unable to retrieve robot filename";
+    }
+
+    try
     {
+        ARMARX_INFO << "Loading robot from file " << rfile;
+        robot = loadRobotFile(rfile);
+    }
+    catch (...)
+    {
+        ARMARX_ERROR << "Failed to init robot";
+    }
+
+    if (!robot || !robot->hasRobotNodeSet(robotNodeSetName))
+    {
+        getObjectScheduler()->terminate();
+
+        if (getWidget()->parentWidget())
+        {
+            getWidget()->parentWidget()->close();
+        }
+
+        std::cout << "returning" << std::endl;
         return;
     }
 
-    ARMARX_INFO << flush;
+    kinematicUnitFile = rfile;
+    robotNodeSet = robot->getRobotNodeSet(robotNodeSetName);
+
 
-    // get proxy to send commands to the kinematic unit
-    std::string kinematicUnitInstructionChannel = kinematicUnitName;
-    // NOW: kinematicUnitInstructionChannel -> HeadKinematicUnit
-    kinematicUnitInterfacePrx = getProxy<KinematicUnitInterfacePrx>(kinematicUnitInstructionChannel);
+    initGUIComboBox(robotNodeSet); // init the pull down menu (QT: ComboBox)
+    initGUIJointListTable(robotNodeSet);
+
+    kinematicUnitVisualization = getCoinVisualization(robot);
+    kinematicUnitNode = kinematicUnitVisualization->getCoinVisualization();
+    robotVisu->addChild(kinematicUnitNode);
 
     // init control mode map
-    reportedJointControlModes = kinematicUnitInterfacePrx->getControlModes();
+    try
+    {
+        reportedJointControlModes = kinematicUnitInterfacePrx->getControlModes();
+    }
+    catch (...)
+    {
+    }
 
     initializeUi();
+
+    usingTopic(topicName);
+
     enableMainWidgetAsync(true);
 }
 
+void KinematicUnitWidgetController::onDisconnectComponent()
+{
+    enableMainWidgetAsync(false);
+
+    {
+        boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+        robot.reset();
+        robotNodeSet.reset();
+        currentNode.reset();
+    }
+
+    {
+        boost::recursive_mutex::scoped_lock lock(*mutex3D);
+        robotVisu->removeAllChildren();
+        debugLayerVisu->removeAllChildren();
+    }
+}
+
 void KinematicUnitWidgetController::onExitComponent()
 {
     enableMainWidgetAsync(false);
@@ -177,6 +238,13 @@ void KinematicUnitWidgetController::onExitComponent()
     {
         boost::recursive_mutex::scoped_lock lock(*mutex3D);
 
+        if (robotVisu)
+        {
+            robotVisu->removeAllChildren();
+            robotVisu->unref();
+            robotVisu = NULL;
+        }
+
         if (debugLayerVisu)
         {
             debugLayerVisu->removeAllChildren();
@@ -208,29 +276,6 @@ QPointer<QDialog> KinematicUnitWidgetController::getConfigDialog(QWidget* parent
     {
         dialog = new KinematicUnitConfigDialog(parent);
         dialog->setName(dialog->getDefaultName());
-
-        armarx::CMakePackageFinder finder(KINEMATIC_UNIT_FILE_DEFAULT_PACKAGE);
-
-        if (!finder.packageFound())
-        {
-            ARMARX_WARNING << "ArmarX Package " << KINEMATIC_UNIT_FILE_DEFAULT_PACKAGE << " has not been found!";
-        }
-        else
-        {
-            ARMARX_INFO << "Adding to datapaths: " << finder.getDataDir();
-            armarx::ArmarXDataPath::addDataPaths(finder.getDataDir());
-        }
-
-        std::string filename =  KINEMATIC_UNIT_FILE_DEFAULT;
-        ArmarXDataPath::getAbsolutePath(filename, filename);
-
-        boost::filesystem::path dir(filename);
-
-
-        dialog->fileDialog->setDirectory(QString::fromStdString(dir.remove_filename().string()));
-        dialog->ui->editRobotFilepath->setText(QString::fromStdString(filename));
-        dialog->ui->ediRobotNodeSetName->setText(KINEMATIC_UNIT_NAME_DEFAULT);
-
     }
 
     return qobject_cast<KinematicUnitConfigDialog*>(dialog);
@@ -239,38 +284,17 @@ QPointer<QDialog> KinematicUnitWidgetController::getConfigDialog(QWidget* parent
 void KinematicUnitWidgetController::configured()
 {
     ARMARX_VERBOSE << "KinematicUnitWidget::configured()";
-    kinematicUnitFile = dialog->ui->editRobotFilepath->text().toStdString();
-    robotNodeSetName = dialog->ui->ediRobotNodeSetName->text().toStdString();
     kinematicUnitName = dialog->proxyFinder->getSelectedProxyName().toStdString();
-    topicName = dialog->topicFinder->getSelectedProxyName().toStdString();
 }
 
 void KinematicUnitWidgetController::loadSettings(QSettings* settings)
 {
-    kinematicUnitFile = settings->value("kinematicUnitFile", QString::fromStdString(KINEMATIC_UNIT_FILE_DEFAULT)).toString().toStdString();
-    ArmarXDataPath::getAbsolutePath(kinematicUnitFile, kinematicUnitFile);
     kinematicUnitName = settings->value("kinematicUnitName", KINEMATIC_UNIT_NAME_DEFAULT).toString().toStdString();
-    robotNodeSetName = settings->value("robotNodeSetName", KINEMATIC_UNIT_NAME_DEFAULT).toString().toStdString();
-    topicName = settings->value("topicName", TOPIC_NAME_DEFAULT).toString().toStdString();
 }
 
 void KinematicUnitWidgetController::saveSettings(QSettings* settings)
 {
-    std::string robFile = kinematicUnitFile;
-
-    try
-    {
-        robFile = ArmarXDataPath::getRelativeArmarXPath(robFile);
-    }
-    catch (...)
-    {
-        ARMARX_WARNING << "Could not get relative filename, using full filename:" << robFile;
-    }
-
     settings->setValue("kinematicUnitName", QString::fromStdString(kinematicUnitName));
-    settings->setValue("robotNodeSetName", QString::fromStdString(robotNodeSetName));
-    settings->setValue("kinematicUnitFile", QString::fromStdString(robFile));
-    settings->setValue("topicName", QString::fromStdString(topicName));
 }
 
 
@@ -355,8 +379,14 @@ void KinematicUnitWidgetController::kinematicUnitZeroPosition()
         jointAngles[rn[i]->getName()] = 0.0f;
     }
 
-    kinematicUnitInterfacePrx->switchControlMode(jointModes);
-    kinematicUnitInterfacePrx->setJointAngles(jointAngles);
+    try
+    {
+        kinematicUnitInterfacePrx->switchControlMode(jointModes);
+        kinematicUnitInterfacePrx->setJointAngles(jointAngles);
+    }
+    catch (...)
+    {
+    }
 
     //set slider to 0 if position control mode is used
     if (selectedControlMode == ePositionControl)
@@ -422,9 +452,16 @@ void KinematicUnitWidgetController::setControlModeVelocity()
         ui.horizontalSliderKinematicUnitPos->setMaximum(90);
         ui.horizontalSliderKinematicUnitPos->setMinimum(-90);
 
-        if (kinematicUnitInterfacePrx)
+        try
         {
-            kinematicUnitInterfacePrx->switchControlMode(jointModes);
+            if (kinematicUnitInterfacePrx)
+            {
+                kinematicUnitInterfacePrx->switchControlMode(jointModes);
+            }
+        }
+        catch (...)
+        {
+
         }
 
         selectedControlMode = eVelocityControl;
@@ -446,7 +483,14 @@ void KinematicUnitWidgetController::setControlModeTorque()
 
         if (kinematicUnitInterfacePrx)
         {
-            kinematicUnitInterfacePrx->switchControlMode(jointModes);
+            try
+            {
+                kinematicUnitInterfacePrx->switchControlMode(jointModes);
+            }
+            catch (...)
+            {
+
+            }
         }
     }
 
@@ -693,7 +737,13 @@ void KinematicUnitWidgetController::sliderValueChanged(int pos)
 
         if (kinematicUnitInterfacePrx)
         {
-            kinematicUnitInterfacePrx->setJointAngles(jointAngles);
+            try
+            {
+                kinematicUnitInterfacePrx->setJointAngles(jointAngles);
+            }
+            catch (...)
+            {
+            }
             updateModel();
         }
     }
@@ -704,7 +754,13 @@ void KinematicUnitWidgetController::sliderValueChanged(int pos)
 
         if (kinematicUnitInterfacePrx)
         {
-            kinematicUnitInterfacePrx->setJointVelocities(jointVelocities);
+            try
+            {
+                kinematicUnitInterfacePrx->setJointVelocities(jointVelocities);
+            }
+            catch (...)
+            {
+            }
             updateModel();
         }
     }
@@ -715,7 +771,13 @@ void KinematicUnitWidgetController::sliderValueChanged(int pos)
 
         if (kinematicUnitInterfacePrx)
         {
-            kinematicUnitInterfacePrx->setJointTorques(jointTorques);
+            try
+            {
+                kinematicUnitInterfacePrx->setJointTorques(jointTorques);
+            }
+            catch (...)
+            {
+            }
             updateModel();
         }
     }
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
index 6c248994f988b044802ef130c7a0cd078217995a..b96569876d0b28f277415a0a8e567450424873b9 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
@@ -28,6 +28,7 @@
 #include <RobotAPI/gui-plugins/KinematicUnitPlugin/ui_kinematicunitguiplugin.h>
 #include <RobotAPI/interface/units/KinematicUnitInterface.h>
 #include <RobotAPI/components/DebugDrawer/DebugDrawerComponent.h>
+#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
 
 #include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
 #include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
@@ -143,6 +144,7 @@ namespace armarx
         // inherited from Component
         virtual void onInitComponent();
         virtual void onConnectComponent();
+        virtual void onDisconnectComponent();
         virtual void onExitComponent();
 
         // inherited of ArmarXWidget
@@ -227,6 +229,7 @@ namespace armarx
         std::string kinematicUnitFile;
         std::string kinematicUnitFileDefault;
         std::string kinematicUnitName;
+        //std::string robotStateComponentName;
         std::string topicName;
         std::string robotNodeSetName;
 
@@ -237,6 +240,7 @@ namespace armarx
         CoinVisualizationPtr kinematicUnitVisualization;
         SoNode* kinematicUnitNode;
         SoSeparator* rootVisu;
+        SoSeparator* robotVisu;
 
         SoSeparator* debugLayerVisu;
         armarx::DebugDrawerComponentPtr debugDrawer;
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.cpp b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.cpp
deleted file mode 100644
index 1b467821f4b5566dea6acd6bc0bc4b483aaf5105..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.cpp
+++ /dev/null
@@ -1,89 +0,0 @@
-/*
-* This file is part of ArmarX.
-*
-* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License version 2 as
-* published by the Free Software Foundation.
-*
-* ArmarX is distributed in the hope that it will be useful, but
-* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program. If not, see <http://www.gnu.org/licenses/>.
-*
-* @package    ArmarX::
-* @author     Mirko Waechter ( mirko.waechter at kit dot edu)
-* @date       2012
-* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
-*             GNU General Public License
-*/
-
-#include "RobotViewerConfigDialog.h"
-#include "ui_RobotViewerConfigDialog.h"
-
-#include <QTimer>
-#include <QPushButton>
-#include <QMessageBox>
-
-
-#include <IceUtil/UUID.h>
-
-#include <Gui/ArmarXGuiLib/utility/IceProxyFinder.h>
-
-#include <RobotAPI/interface/core/RobotState.h>
-
-using namespace armarx;
-
-RobotViewerConfigDialog::RobotViewerConfigDialog(QWidget* parent) :
-    QDialog(parent),
-    ui(new Ui::RobotViewerConfigDialog),
-    uuid(IceUtil::generateUUID())
-{
-    ui->setupUi(this);
-
-    connect(this->ui->buttonBox, SIGNAL(accepted()), this, SLOT(verifyConfig()));
-    ui->buttonBox->button(QDialogButtonBox::Ok)->setDefault(true);
-    proxyFinder = new IceProxyFinder<RobotStateComponentInterfacePrx>(this);
-    proxyFinder->setSearchMask("RobotState*");
-    ui->gridLayout->addWidget(proxyFinder, 2, 1, 1, 2);
-}
-
-RobotViewerConfigDialog::~RobotViewerConfigDialog()
-{
-    delete ui;
-}
-
-void RobotViewerConfigDialog::onInitComponent()
-{
-    proxyFinder->setIceManager(getIceManager());
-}
-
-void RobotViewerConfigDialog::onConnectComponent()
-{
-
-}
-
-void RobotViewerConfigDialog::onExitComponent()
-{
-    QObject::disconnect();
-
-}
-
-
-
-void RobotViewerConfigDialog::verifyConfig()
-{
-    if (proxyFinder->getSelectedProxyName().trimmed().length() == 0)
-    {
-        QMessageBox::critical(this, "Invalid Configuration", "The proxy name must not be empty");
-    }
-    else
-    {
-        this->accept();
-    }
-}
-
-
-
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.h b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.h
deleted file mode 100644
index 9c8237d106d6468d725b3304f59310e72ecc0aa1..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.h
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
-* This file is part of ArmarX.
-*
-* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License version 2 as
-* published by the Free Software Foundation.
-*
-* ArmarX is distributed in the hope that it will be useful, but
-* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program. If not, see <http://www.gnu.org/licenses/>.
-*
-* @package    ArmarX::
-* @author     Nikolaus Vahrenkamp
-* @date       2015
-* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
-*             GNU General Public License
-*/
-
-#ifndef RobotViewerCONFIGDIALOG_H
-#define RobotViewerCONFIGDIALOG_H
-
-#include <QDialog>
-#include <QFileDialog>
-
-#include <ArmarXCore/core/services/tasks/RunningTask.h>
-#include <ArmarXCore/core/IceManager.h>
-#include <ArmarXCore/core/ManagedIceObject.h>
-#include <Gui/ArmarXGuiLib/utility/IceProxyFinder.h>
-
-namespace Ui
-{
-    class RobotViewerConfigDialog;
-}
-
-namespace armarx
-{
-    class RobotViewerConfigDialog :
-        public QDialog,
-        virtual public ManagedIceObject
-    {
-        Q_OBJECT
-
-    public:
-        explicit RobotViewerConfigDialog(QWidget* parent = 0);
-        ~RobotViewerConfigDialog();
-
-        // inherited from ManagedIceObject
-        std::string getDefaultName() const
-        {
-            return "RobotViewerConfigDialog" + uuid;
-        }
-        void onInitComponent();
-        void onConnectComponent();
-        void onExitComponent();
-
-        void updateRobotViewerList();
-    signals:
-
-    public slots:
-        void verifyConfig();
-    private:
-
-        IceProxyFinderBase* proxyFinder;
-        Ui::RobotViewerConfigDialog* ui;
-        std::string uuid;
-        friend class RobotViewerWidgetController;
-    };
-}
-
-#endif
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.ui b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.ui
deleted file mode 100644
index d5716a334c71266afbd947f0529335de7a1a4289..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.ui
+++ /dev/null
@@ -1,63 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>RobotViewerConfigDialog</class>
- <widget class="QDialog" name="RobotViewerConfigDialog">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>527</width>
-    <height>96</height>
-   </rect>
-  </property>
-  <property name="sizePolicy">
-   <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-    <horstretch>0</horstretch>
-    <verstretch>0</verstretch>
-   </sizepolicy>
-  </property>
-  <property name="windowTitle">
-   <string>Dialog</string>
-  </property>
-  <property name="toolTip">
-   <string/>
-  </property>
-  <layout class="QGridLayout" name="gridLayout_2">
-   <item row="1" column="0">
-    <widget class="QDialogButtonBox" name="buttonBox">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="standardButtons">
-      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="0">
-    <layout class="QGridLayout" name="gridLayout"/>
-   </item>
-  </layout>
- </widget>
- <tabstops>
-  <tabstop>buttonBox</tabstop>
- </tabstops>
- <resources/>
- <connections>
-  <connection>
-   <sender>buttonBox</sender>
-   <signal>rejected()</signal>
-   <receiver>RobotViewerConfigDialog</receiver>
-   <slot>reject()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>316</x>
-     <y>260</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>286</x>
-     <y>274</y>
-    </hint>
-   </hints>
-  </connection>
- </connections>
-</ui>
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.cpp b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.cpp
deleted file mode 100644
index 77a3673d5536e4b0073aaf4b854b6fca86e213a4..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.cpp
+++ /dev/null
@@ -1,489 +0,0 @@
-#include "RobotViewerGuiPlugin.h"
-#include "RobotViewerConfigDialog.h"
-
-#include <RobotAPI/gui-plugins/RobotViewerPlugin/ui_RobotViewerConfigDialog.h>
-
-#include <ArmarXCore/core/system/ArmarXDataPath.h>
-#include <ArmarXCore/core/ArmarXObjectScheduler.h>
-#include <ArmarXCore/core/ArmarXManager.h>
-#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
-#include <ArmarXCore/core/application/Application.h>
-
-#include <VirtualRobot/XML/RobotIO.h>
-
-// Qt headers
-#include <Qt>
-#include <QtGlobal>
-
-#include <QPushButton>
-
-#include <QCheckBox>
-
-
-#include <Inventor/SoDB.h>
-#include <Inventor/Qt/SoQt.h>
-// System
-#include <stdio.h>
-#include <string>
-#include <string.h>
-#include <stdlib.h>
-#include <iostream>
-#include <cmath>
-
-#include <boost/filesystem.hpp>
-
-#define TIMER_MS 33
-#define ROBOTSTATE_NAME_DEFAULT "RobotStateComponent"
-
-using namespace armarx;
-using namespace VirtualRobot;
-using namespace std;
-
-
-RobotViewerGuiPlugin::RobotViewerGuiPlugin()
-{
-    addWidget<RobotViewerWidgetController>();
-}
-
-
-RobotViewerWidgetController::RobotViewerWidgetController()
-{
-    robotStateComponentName = "";
-    rootVisu = NULL;
-    robotVisu = NULL;
-    debugLayerVisu = NULL;
-
-    timerSensor = NULL;
-
-    // init gui
-    ui.setupUi(getWidget());
-    getWidget()->setEnabled(false);
-}
-
-
-void RobotViewerWidgetController::onInitComponent()
-{
-    bool createDebugDrawer = true;
-    verbose = true;
-
-    usingProxy(robotStateComponentName);
-    usingProxy(robotIKName);
-    usingProxy(kinematicUnitComponentName);
-
-
-    rootVisu = new SoSeparator();
-    rootVisu->ref();
-
-    robotVisu = new SoSeparator;
-    robotVisu->ref();
-    rootVisu->addChild(robotVisu);
-
-    // create the debugdrawer component
-    if (createDebugDrawer)
-    {
-        std::string debugDrawerComponentName = "RobotViewerGUIDebugDrawer_" + getName();
-        ARMARX_INFO << "Creating component " << debugDrawerComponentName;
-        debugDrawer = Component::create<DebugDrawerComponent>(properties, debugDrawerComponentName);
-
-        if (mutex3D)
-        {
-            debugDrawer->setMutex(mutex3D);
-        }
-        else
-        {
-            ARMARX_ERROR << " No 3d mutex available...";
-        }
-
-        ArmarXManagerPtr m = getArmarXManager();
-        m->addObject(debugDrawer);
-
-
-        {
-            boost::recursive_mutex::scoped_lock lock(*mutex3D);
-            debugLayerVisu = new SoSeparator();
-            debugLayerVisu->ref();
-            debugLayerVisu->addChild(debugDrawer->getVisualization());
-            rootVisu->addChild(debugLayerVisu);
-        }
-    }
-
-    showRoot(true);
-}
-
-void RobotViewerWidgetController::onConnectComponent()
-{
-    robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>(robotStateComponentName);
-    kinematicUnitInterfacePrx = getProxy<KinematicUnitInterfacePrx>(kinematicUnitComponentName);
-    robotIKPrx = getProxy<RobotIKInterfacePrx>(robotIKName);
-
-
-    if (robotVisu)
-    {
-        robotVisu->removeAllChildren();
-    }
-
-    robot.reset();
-
-    std::string rfile;
-    StringList includePaths;
-
-    // get robot filename
-    try
-    {
-
-        StringList packages = robotStateComponentPrx->getArmarXPackages();
-        packages.push_back(Application::GetProjectName());
-        ARMARX_VERBOSE << "ArmarX packages " << packages;
-
-        for (const std::string& projectName : packages)
-        {
-            if (projectName.empty())
-            {
-                continue;
-            }
-
-            CMakePackageFinder project(projectName);
-            StringList projectIncludePaths;
-            auto pathsString = project.getDataDir();
-            boost::split(projectIncludePaths,
-                         pathsString,
-                         boost::is_any_of(";,"),
-                         boost::token_compress_on);
-            includePaths.insert(includePaths.end(), projectIncludePaths.begin(), projectIncludePaths.end());
-
-        }
-
-        rfile = robotStateComponentPrx->getRobotFilename();
-        ARMARX_VERBOSE << "Relative robot file " << rfile;
-        ArmarXDataPath::getAbsolutePath(rfile, rfile, includePaths);
-        ARMARX_VERBOSE << "Absolute robot file " << rfile;
-    }
-    catch (...)
-    {
-        ARMARX_ERROR << "Unable to retrieve robot filename";
-    }
-
-    try
-    {
-        ARMARX_INFO << "Loading robot from file " << rfile;
-        robot = loadRobotFile(rfile);
-    }
-    catch (...)
-    {
-        ARMARX_ERROR << "Failed to init robot";
-    }
-
-    if (!robot)
-    {
-        getObjectScheduler()->terminate();
-
-        if (getWidget()->parentWidget())
-        {
-            getWidget()->parentWidget()->close();
-        }
-
-        std::cout << "returning" << std::endl;
-        return;
-    }
-
-    {
-        boost::recursive_mutex::scoped_lock lock(*mutex3D);
-
-        CoinVisualizationPtr robotViewerVisualization = robot->getVisualization<CoinVisualization>();
-
-        if (robotViewerVisualization)
-        {
-            robotVisu->addChild(robotViewerVisualization->getCoinVisualization());
-        }
-        else
-        {
-            ARMARX_WARNING << "no robot visu available...";
-        }
-    }
-
-    // start update timer
-    SoSensorManager* sensor_mgr = SoDB::getSensorManager();
-    timerSensor = new SoTimerSensor(timerCB, this);
-    timerSensor->setInterval(SbTime(TIMER_MS / 1000.0f));
-    sensor_mgr->insertTimerSensor(timerSensor);
-
-    connectSlots();
-    enableMainWidgetAsync(true);
-}
-
-void RobotViewerWidgetController::onDisconnectComponent()
-{
-
-    ARMARX_INFO << "Disconnecting component";
-
-    // stop update timer
-    if (timerSensor)
-    {
-        SoSensorManager* sensor_mgr = SoDB::getSensorManager();
-        sensor_mgr->removeTimerSensor(timerSensor);
-    }
-
-    ARMARX_INFO << "Disconnecting component: timer stopped";
-
-    robotStateComponentPrx = NULL;
-    {
-        boost::recursive_mutex::scoped_lock lock(*mutex3D);
-
-        if (robotVisu)
-        {
-            ARMARX_INFO << "Disconnecting component: removing visu";
-            robotVisu->removeAllChildren();
-        }
-
-        robot.reset();
-    }
-    ARMARX_INFO << "Disconnecting component: finished";
-}
-
-
-void RobotViewerWidgetController::onExitComponent()
-{
-    enableMainWidgetAsync(false);
-
-    {
-        boost::recursive_mutex::scoped_lock lock(*mutex3D);
-
-        if (debugLayerVisu)
-        {
-            debugLayerVisu->removeAllChildren();
-            debugLayerVisu->unref();
-            debugLayerVisu = NULL;
-        }
-
-        if (robotVisu)
-        {
-            robotVisu->removeAllChildren();
-            robotVisu->unref();
-            robotVisu = NULL;
-        }
-
-        if (rootVisu)
-        {
-            rootVisu->removeAllChildren();
-            rootVisu->unref();
-            rootVisu = NULL;
-        }
-    }
-
-    /*
-    if (debugDrawer && debugDrawer->getObjectScheduler())
-    {
-        ARMARX_INFO << "Removing DebugDrawer component...";
-        debugDrawer->getObjectScheduler()->terminate();
-        ARMARX_INFO << "Removing DebugDrawer component...done";
-    }
-    */
-}
-
-QPointer<QDialog> RobotViewerWidgetController::getConfigDialog(QWidget* parent)
-{
-    if (!dialog)
-    {
-        dialog = new RobotViewerConfigDialog(parent);
-        dialog->setName(dialog->getDefaultName());
-
-    }
-
-    return qobject_cast<RobotViewerConfigDialog*>(dialog);
-}
-
-
-
-void RobotViewerWidgetController::configured()
-{
-    ARMARX_VERBOSE << "RobotViewerWidget::configured()";
-    robotStateComponentName = dialog->proxyFinder->getSelectedProxyName().trimmed().toStdString();
-
-    //TODO: Config dialog erweitern
-
-    robotIKName = "RobotIK";
-    kinematicUnitComponentName = "Armar3KinematicUnit";
-}
-
-
-void RobotViewerWidgetController::loadSettings(QSettings* settings)
-{
-    robotStateComponentName = settings->value("RobotStateComponent", QString::fromStdString(ROBOTSTATE_NAME_DEFAULT)).toString().toStdString();
-}
-
-void RobotViewerWidgetController::saveSettings(QSettings* settings)
-{
-    settings->setValue("RobotStateComponent", QString::fromStdString(robotStateComponentName));
-}
-
-
-void RobotViewerWidgetController::showVisuLayers(bool show)
-{
-    if (debugDrawer)
-    {
-        if (show)
-        {
-            debugDrawer->enableAllLayers();
-        }
-        else
-        {
-            debugDrawer->disableAllLayers();
-        }
-    }
-}
-
-void RobotViewerWidgetController::showRoot(bool show)
-{
-    if (!debugDrawer)
-    {
-        return;
-    }
-
-    std::string poseName("root");
-
-    if (show)
-    {
-        Eigen::Matrix4f gp = Eigen::Matrix4f::Identity();
-        PosePtr gpP(new Pose(gp));
-        debugDrawer->setPoseDebugLayerVisu(poseName, gpP);
-    }
-    else
-    {
-        debugDrawer->removePoseDebugLayerVisu(poseName);
-    }
-}
-
-void RobotViewerWidgetController::showRobot(bool show)
-{
-    if (!robotVisu)
-    {
-        return;
-    }
-
-    boost::recursive_mutex::scoped_lock lock(*mutex3D);
-
-    if (show && rootVisu->findChild(robotVisu) < 0)
-    {
-        rootVisu->addChild(robotVisu);
-    }
-    else if (!show && rootVisu->findChild(robotVisu) >= 0)
-    {
-        rootVisu->removeChild(robotVisu);
-    }
-}
-SoNode* RobotViewerWidgetController::getScene()
-{
-    return rootVisu;
-}
-
-void RobotViewerWidgetController::timerCB(void* data, SoSensor* sensor)
-{
-    RobotViewerWidgetController* controller = static_cast<RobotViewerWidgetController*>(data);
-
-    if (!controller)
-    {
-        return;
-    }
-
-    controller->updateRobotVisu();
-}
-
-
-void RobotViewerWidgetController::connectSlots()
-{
-    connect(this, SIGNAL(robotStatusUpdated()), this, SLOT(updateRobotVisu()));
-    connect(ui.cbDebugLayer, SIGNAL(toggled(bool)), this, SLOT(showVisuLayers(bool)), Qt::QueuedConnection);
-    connect(ui.cbRoot, SIGNAL(toggled(bool)), this, SLOT(showRoot(bool)), Qt::QueuedConnection);
-    connect(ui.cbRobot, SIGNAL(toggled(bool)), this, SLOT(showRobot(bool)), Qt::QueuedConnection);
-}
-
-
-
-VirtualRobot::RobotPtr RobotViewerWidgetController::loadRobotFile(std::string fileName)
-{
-    VirtualRobot::RobotPtr robot;
-
-    if (!ArmarXDataPath::getAbsolutePath(fileName, fileName))
-    {
-        ARMARX_INFO << "Could not find Robot XML file with name " << fileName;
-    }
-
-    robot = RobotIO::loadRobot(fileName);
-
-    if (!robot)
-    {
-        ARMARX_INFO << "Could not find Robot XML file with name " << fileName;
-    }
-
-    return robot;
-}
-
-
-
-void RobotViewerWidgetController::updateRobotVisu()
-{
-    boost::recursive_mutex::scoped_lock lock(*mutex3D);
-
-    if (!robotStateComponentPrx || !robot)
-    {
-        return;
-    }
-
-    try
-    {
-        RemoteRobot::synchronizeLocalClone(robot, robotStateComponentPrx);
-    }
-    catch (...)
-    {
-        ARMARX_INFO << deactivateSpam(5) << "Robot synchronization failed";
-        return;
-    }
-
-    Eigen::Matrix4f gp = robot->getGlobalPose();
-    QString roboInfo("Robot Pose (global): pos: ");
-    roboInfo += QString::number(gp(0, 3), 'f', 2);
-    roboInfo += QString(", ");
-    roboInfo += QString::number(gp(1, 3), 'f', 2);
-    roboInfo += QString(", ");
-    roboInfo += QString::number(gp(2, 3), 'f', 2);
-    roboInfo += QString(", rot:");
-    Eigen::Vector3f rpy;
-    VirtualRobot::MathTools::eigen4f2rpy(gp, rpy);
-    roboInfo += QString::number(rpy(0), 'f', 2);
-    roboInfo += QString(", ");
-    roboInfo += QString::number(rpy(1), 'f', 2);
-    roboInfo += QString(", ");
-    roboInfo += QString::number(rpy(2), 'f', 2);
-    ui.leRobotInfo->setText(roboInfo);
-}
-
-void RobotViewerWidgetController::solveIK()
-{
-    //auto robotNodeSets = robot->getRobotNodeSets();
-
-    ::Ice::AsyncResultPtr asyncResult = robotIKPrx->begin_computeIKGlobalPose("LeftArm", new Pose(), eAll);
-
-    while (!asyncResult->isCompleted())
-    {
-        qApp->processEvents();
-    }
-
-    auto targetJointAngles = robotIKPrx->end_computeIKGlobalPose(asyncResult);
-
-    kinematicUnitInterfacePrx->setJointAngles(targetJointAngles);
-    //kinematicUnitInterfacePrx->switchControlMode();
-}
-
-void RobotViewerWidgetController::setMutex3D(boost::shared_ptr<boost::recursive_mutex> mutex3D)
-{
-    //ARMARX_IMPORTANT << "set mutex3d :" << mutex3D.get();
-    this->mutex3D = mutex3D;
-
-    if (debugDrawer)
-    {
-        debugDrawer->setMutex(mutex3D);
-    }
-}
-
-
-Q_EXPORT_PLUGIN2(armarx_gui_RobotViewerGuiPlugin, RobotViewerGuiPlugin)
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.h b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.h
deleted file mode 100644
index dc38933e61f3cce7055117c04719a4a6d1ab7d00..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.h
+++ /dev/null
@@ -1,179 +0,0 @@
-/*
-* This file is part of ArmarX.
-*
-* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License version 2 as
-* published by the Free Software Foundation.
-*
-* ArmarX is distributed in the hope that it will be useful, but
-* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program. If not, see <http://www.gnu.org/licenses/>.
-*
-* @package    ArmarX::Component::RobotViewerGuiPlugin
-* @author     Nikolaus Vahrenkamp
-* @copyright  2015 KIT
-* @license    http://www.gnu.org/licenses/gpl-2.0.txt
-*             GNU General Public License
-
-*/
-
-#ifndef ARMARX_COMPONENT_ROBOTVIEWER_GUI_H
-#define ARMARX_COMPONENT_ROBOTVIEWER_GUI_H
-
-/* ArmarX headers */
-#include <RobotAPI/gui-plugins/RobotViewerPlugin/ui_RobotViewerGuiPlugin.h>
-#include <RobotAPI/components/DebugDrawer/DebugDrawerComponent.h>
-#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
-#include <RobotAPI/interface/core/RobotIK.h>
-
-#include <Gui/ArmarXGuiLib/ArmarXGuiPlugin.h>
-#include <Gui/ArmarXGuiLib/ArmarXComponentWidgetController.h>
-
-#include <ArmarXCore/core/Component.h>
-
-/* Qt headers */
-#include <QtGui/QMainWindow>
-
-
-#include <VirtualRobot/Robot.h>
-#include <VirtualRobot/Nodes/RobotNode.h>
-#include <VirtualRobot/RobotNodeSet.h>
-#include <VirtualRobot/Visualization/VisualizationFactory.h>
-#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
-#include <RobotAPI/interface/core/RobotState.h>
-
-#include <boost/shared_ptr.hpp>
-
-#include <Inventor/sensors/SoTimerSensor.h>
-
-namespace armarx
-{
-    typedef boost::shared_ptr<VirtualRobot::CoinVisualization> CoinVisualizationPtr;
-
-    class RobotViewerConfigDialog;
-
-    /**
-      \class RobotViewerGuiPlugin
-      \brief This plugin provides a generic widget showing a 3D model of the robot. The robot is articulated and moved according to the corresponding RemoteRobot.
-      Further, DebugDrawer methods are available.
-      \see RobotViewerWidget
-      */
-    class RobotViewerGuiPlugin :
-        public ArmarXGuiPlugin
-    {
-    public:
-        RobotViewerGuiPlugin();
-
-        QString getPluginName()
-        {
-            return "RobotViewerGuiPlugin";
-        }
-    };
-
-    /**
-     \class RobotViewerWidget
-     \brief This widget shows a 3D model of the robot. The robot is articulated and moved according to the corresponding RemoteRobot.
-     Further, DebugDrawer methods are available.
-     \image html RobotViewerGUI.png
-     When you add the widget to the Gui, you need to specify the following parameters:
-
-     Parameter Name   | Example Value     | Required?     | Description
-     :----------------  | :-------------:   | :-------------- |:--------------------
-     Proxy     | RobotStateComponent   | Yes | The name of the robot state component.
-
-     \ingroup RobotAPI-ArmarXGuiPlugins ArmarXGuiPlugins
-     \see RobotViewerGuiPlugin
-     */
-    class RobotViewerWidgetController :
-        public ArmarXComponentWidgetController
-    {
-        Q_OBJECT
-    public:
-
-        RobotViewerWidgetController();
-        virtual ~RobotViewerWidgetController() {}
-
-        // inherited from Component
-        virtual void onInitComponent();
-        virtual void onConnectComponent();
-        virtual void onDisconnectComponent();
-        virtual void onExitComponent();
-
-        // inherited of ArmarXWidget
-        virtual QString getWidgetName() const
-        {
-            return "RobotControl.RobotIK";
-        }
-        QPointer<QDialog> getConfigDialog(QWidget* parent = 0);
-        virtual void loadSettings(QSettings* settings);
-        virtual void saveSettings(QSettings* settings);
-        void configured();
-
-        SoNode* getScene();
-
-        // overwrite setMutex, so that we can inform the debugdrawer
-        virtual void setMutex3D(boost::shared_ptr<boost::recursive_mutex> mutex3D);
-
-    signals:
-
-        void robotStatusUpdated();
-
-    public slots:
-
-        void updateRobotVisu();
-        void solveIK();
-
-
-
-    protected:
-        void connectSlots();
-
-
-        Ui::RobotViewerGuiPlugin ui;
-
-        bool verbose;
-
-
-        RobotStateComponentInterfacePrx robotStateComponentPrx;
-        KinematicUnitInterfacePrx kinematicUnitInterfacePrx;
-        RobotIKInterfacePrx robotIKPrx;
-
-        VirtualRobot::RobotPtr robot;
-
-        SoSeparator* robotVisu;
-        SoSeparator* rootVisu;
-
-        std::string robotStateComponentName;
-        std::string kinematicUnitComponentName;
-        std::string robotIKName;
-
-        SoTimerSensor* timerSensor;
-
-        SoSeparator* debugLayerVisu;
-        armarx::DebugDrawerComponentPtr debugDrawer;
-
-        static void timerCB(void* data, SoSensor* sensor);
-    protected slots:
-        void showVisuLayers(bool show);
-        void showRoot(bool show);
-        void showRobot(bool show);
-    private:
-
-        // init stuff
-        VirtualRobot::RobotPtr loadRobotFile(std::string fileName);
-
-        CoinVisualizationPtr getCoinVisualization(VirtualRobot::RobotPtr robot);
-
-
-        QPointer<QWidget> __widget;
-        QPointer<RobotViewerConfigDialog> dialog;
-
-    };
-    typedef boost::shared_ptr<RobotViewerWidgetController> RobotViewerGuiPluginPtr;
-}
-
-#endif
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.ui b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.ui
deleted file mode 100644
index 2a8526ac88774d9fb2009fe42d8d29c8d922fca7..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.ui
+++ /dev/null
@@ -1,90 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>RobotViewerGuiPlugin</class>
- <widget class="QWidget" name="RobotViewerGuiPlugin">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>912</width>
-    <height>100</height>
-   </rect>
-  </property>
-  <property name="sizePolicy">
-   <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-    <horstretch>0</horstretch>
-    <verstretch>0</verstretch>
-   </sizepolicy>
-  </property>
-  <property name="minimumSize">
-   <size>
-    <width>0</width>
-    <height>100</height>
-   </size>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QGridLayout" name="gridLayout_2">
-   <item row="0" column="1">
-    <widget class="QCheckBox" name="cbDebugLayer">
-     <property name="text">
-      <string>show debug layer</string>
-     </property>
-     <property name="checked">
-      <bool>true</bool>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="0">
-    <widget class="QLineEdit" name="leRobotInfo">
-     <property name="enabled">
-      <bool>false</bool>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="0">
-    <layout class="QVBoxLayout" name="verticalLayout">
-     <property name="sizeConstraint">
-      <enum>QLayout::SetMaximumSize</enum>
-     </property>
-     <item>
-      <widget class="QLabel" name="labelRobotViewerName">
-       <property name="font">
-        <font>
-         <family>AlArabiya</family>
-         <pointsize>14</pointsize>
-        </font>
-       </property>
-       <property name="text">
-        <string>RobotViewer</string>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </item>
-   <item row="1" column="1">
-    <widget class="QCheckBox" name="cbRoot">
-     <property name="text">
-      <string>show root</string>
-     </property>
-     <property name="checked">
-      <bool>true</bool>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="1">
-    <widget class="QCheckBox" name="cbRobot">
-     <property name="text">
-      <string>show robot</string>
-     </property>
-     <property name="checked">
-      <bool>true</bool>
-     </property>
-    </widget>
-   </item>
-  </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/CMakeLists.txt
deleted file mode 100644
index bc97728d165777a835eb6c2c5aff0308e4e6b6d2..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/CMakeLists.txt
+++ /dev/null
@@ -1,56 +0,0 @@
-armarx_set_target("RobotIKGuiPlugin")
-
-find_package(Qt4 COMPONENTS QtCore QtGui QtOpenGL QUIET)
-
-find_package(Eigen3 QUIET)
-
-# VirtualRobot (adds dependencies to Coin3D and SoQt)
-find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
-#find_package(ArmarXGui QUIET)
-
-armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
-
-armarx_build_if(QT_FOUND "Qt not available")
-armarx_build_if(QT_QTOPENGL_FOUND "QtOpenGL not available")
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-armarx_build_if(Simox_FOUND "VirtualRobot not available")
-
-include(${QT_USE_FILE})
-
-include_directories(${Eigen3_INCLUDE_DIR})
-include_directories(${Simox_INCLUDE_DIRS})
-
-
-set(SOURCES
-    RobotIKGuiPlugin.cpp
-    RobotIKConfigDialog.cpp
-    RobotViewer.cpp
-    RobotViewerWidget.cpp
-)
-set(HEADERS
-    RobotIKGuiPlugin.h
-    RobotIKConfigDialog.h
-    RobotViewer.h
-    RobotViewerWidget.h
-)
-
-set(GUI_MOC_HDRS
-    RobotIKGuiPlugin.h
-    RobotIKConfigDialog.h
-    RobotViewer.h
-    RobotViewerWidget.h
-)
-
-set(GUI_UIS
-    RobotIKGuiPlugin.ui
-    RobotIKConfigDialog.ui
-)
-
-set(COMPONENT_LIBS RobotAPIUnits DebugDrawer ${Simox_LIBRARIES})
-
-
-
-
-if (ArmarXGui_FOUND)
-	armarx_gui_library(RobotIKGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" )
-endif()
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.cpp b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.cpp
deleted file mode 100644
index 54b438f34feec6310d704fce6d5179e34bd5cb76..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.cpp
+++ /dev/null
@@ -1,99 +0,0 @@
-/*
-* This file is part of ArmarX.
-*
-* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License version 2 as
-* published by the Free Software Foundation.
-*
-* ArmarX is distributed in the hope that it will be useful, but
-* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program. If not, see <http://www.gnu.org/licenses/>.
-*
-* @package    ArmarX::
-* @author     Philipp Schmidt
-* @date       2015
-* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
-*             GNU General Public License
-*/
-
-//Configuration dialog
-#include "RobotIKConfigDialog.h"
-#include "ui_RobotIKConfigDialog.h"
-
-//RobotAPI includes for different Components
-#include <RobotAPI/interface/core/RobotIK.h>
-#include <RobotAPI/interface/core/RobotState.h>
-
-//Qt includes
-#include <QPushButton>
-#include <QMessageBox>
-
-//Ice includes
-#include <IceUtil/UUID.h>
-
-armarx::RobotIKConfigDialog::RobotIKConfigDialog(QWidget* parent) :
-    QDialog(parent),
-    ui(new Ui::RobotIKConfigDialog),
-    uuid(IceUtil::generateUUID())
-{
-    ui->setupUi(this);
-
-    //Connect OK Button to the event checking the input parameters
-    connect(this->ui->buttonBox, SIGNAL(accepted()), this, SLOT(verifyConfiguration()));
-
-    //Set OK button as default for convenience
-    ui->buttonBox->button(QDialogButtonBox::Ok)->setDefault(true);
-
-    //Initialize proxyFinders for every component
-    robotStateComponentProxyFinder = new IceProxyFinder<RobotStateComponentInterfacePrx>(this);
-    robotStateComponentProxyFinder->setSearchMask("RobotState*");
-    ui->gridLayout->addWidget(robotStateComponentProxyFinder, 1, 1);
-
-    kinematicUnitComponentProxyFinder = new IceProxyFinder<KinematicUnitInterfacePrx>(this);
-    kinematicUnitComponentProxyFinder->setSearchMask("Armar3Kinematic*");
-    ui->gridLayout->addWidget(kinematicUnitComponentProxyFinder, 2, 1);
-
-    robotIKComponentProxyFinder = new IceProxyFinder<RobotIKInterfacePrx>(this);
-    robotIKComponentProxyFinder->setSearchMask("RobotIK*");
-    ui->gridLayout->addWidget(robotIKComponentProxyFinder, 3, 1);
-}
-
-armarx::RobotIKConfigDialog::~RobotIKConfigDialog()
-{
-    delete ui;
-}
-
-void armarx::RobotIKConfigDialog::onInitComponent()
-{
-    robotStateComponentProxyFinder->setIceManager(this->getIceManager());
-    kinematicUnitComponentProxyFinder->setIceManager(this->getIceManager());
-    robotIKComponentProxyFinder->setIceManager(this->getIceManager());
-}
-
-void armarx::RobotIKConfigDialog::onConnectComponent()
-{
-
-}
-
-void armarx::RobotIKConfigDialog::onExitComponent()
-{
-    QObject::disconnect();
-}
-
-void armarx::RobotIKConfigDialog::verifyConfiguration()
-{
-    if (robotStateComponentProxyFinder->getSelectedProxyName().trimmed().length() == 0
-        || kinematicUnitComponentProxyFinder->getSelectedProxyName().trimmed().length() == 0
-        || robotIKComponentProxyFinder->getSelectedProxyName().trimmed().length() == 0)
-    {
-        QMessageBox::critical(this, "Invalid Configuration", "The proxy name must not be empty");
-    }
-    else
-    {
-        this->accept();
-    }
-}
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.h b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.h
deleted file mode 100644
index 3d34f2f6ceace807b0b9c7b85349113209c33765..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/*
-* This file is part of ArmarX.
-*
-* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License version 2 as
-* published by the Free Software Foundation.
-*
-* ArmarX is distributed in the hope that it will be useful, but
-* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program. If not, see <http://www.gnu.org/licenses/>.
-*
-* @package    ArmarX::
-* @author     Philipp Schmidt
-* @date       2015
-* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
-*             GNU General Public License
-*/
-
-#ifndef RobotIKCONFIGDIALOG_H
-#define RobotIKCONFIGDIALOG_H
-
-//ArmarX includes
-#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
-
-//Qt includes
-#include <QDialog>
-
-namespace Ui
-{
-    class RobotIKConfigDialog;
-}
-
-namespace armarx
-{
-    class RobotIKConfigDialog : public QDialog, virtual public ManagedIceObject
-    {
-        Q_OBJECT
-        friend class RobotIKWidgetController;
-
-    public:
-        explicit RobotIKConfigDialog(QWidget* parent = 0);
-        ~RobotIKConfigDialog();
-
-        // inherited from ManagedIceObject
-        std::string getDefaultName() const
-        {
-            return "RobotIKConfigDialog" + uuid;
-        }
-        void onInitComponent();
-        void onConnectComponent();
-        void onExitComponent();
-
-    public slots:
-        void verifyConfiguration();
-
-    private:
-        IceProxyFinderBase* robotStateComponentProxyFinder;
-        IceProxyFinderBase* kinematicUnitComponentProxyFinder;
-        IceProxyFinderBase* robotIKComponentProxyFinder;
-
-        Ui::RobotIKConfigDialog* ui;
-        std::string uuid;
-    };
-}
-
-#endif
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.ui b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.ui
deleted file mode 100644
index 280951dbbc2386ac880f7d0c6a3c644df8c42a00..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.ui
+++ /dev/null
@@ -1,63 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>RobotIKConfigDialog</class>
- <widget class="QDialog" name="RobotIKConfigDialog">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>527</width>
-    <height>96</height>
-   </rect>
-  </property>
-  <property name="sizePolicy">
-   <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-    <horstretch>0</horstretch>
-    <verstretch>0</verstretch>
-   </sizepolicy>
-  </property>
-  <property name="windowTitle">
-   <string>RobotIKConfigDialog</string>
-  </property>
-  <property name="toolTip">
-   <string/>
-  </property>
-  <layout class="QGridLayout" name="gridLayout_2">
-   <item row="1" column="0">
-    <widget class="QDialogButtonBox" name="buttonBox">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="standardButtons">
-      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="0">
-    <layout class="QGridLayout" name="gridLayout"/>
-   </item>
-  </layout>
- </widget>
- <tabstops>
-  <tabstop>buttonBox</tabstop>
- </tabstops>
- <resources/>
- <connections>
-  <connection>
-   <sender>buttonBox</sender>
-   <signal>rejected()</signal>
-   <receiver>RobotIKConfigDialog</receiver>
-   <slot>reject()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>316</x>
-     <y>260</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>286</x>
-     <y>274</y>
-    </hint>
-   </hints>
-  </connection>
- </connections>
-</ui>
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.cpp b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.cpp
deleted file mode 100644
index 3e2badc6d74ac6c0b84bb804241a5c7b3711ac93..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.cpp
+++ /dev/null
@@ -1,606 +0,0 @@
-/*
-* This file is part of ArmarX.
-*
-* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License version 2 as
-* published by the Free Software Foundation.
-*
-* ArmarX is distributed in the hope that it will be useful, but
-* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program. If not, see <http://www.gnu.org/licenses/>.
-*
-* @package    ArmarX::
-* @author     Philipp Schmidt
-* @date       2015
-* @license    http://www.gnu.org/licenses/gpl-2.0.txt
-*             GNU General Public License
-
-*/
-
-#include "RobotIKGuiPlugin.h"
-#include "RobotViewer.h"
-
-/* ArmarX includes */
-#include <ArmarXCore/core/system/ArmarXDataPath.h>
-#include <ArmarXCore/core/ArmarXObjectScheduler.h>
-#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
-#include <ArmarXCore/core/application/Application.h>
-
-/* Virtual Robot includes */
-#include <VirtualRobot/XML/RobotIO.h>
-#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
-
-/* Coin includes */
-#include <Inventor/actions/SoGetMatrixAction.h>
-#include <Inventor/actions/SoSearchAction.h>
-#include <Inventor/SbViewportRegion.h>
-
-#define ROBOT_UPDATE_TIMER_MS 33
-#define TEXTFIELD_UPDATE_TIMER_MS 200
-
-armarx::RobotIKGuiPlugin::RobotIKGuiPlugin()
-{
-    addWidget<RobotIKWidgetController>();
-}
-
-armarx::RobotIKWidgetController::RobotIKWidgetController() : startUpCameraPositioningFlag(true)
-{
-    //Initialize Gui
-    ui.setupUi(getWidget());
-    getWidget()->setEnabled(false);
-
-    //Alignment for ui
-    this->ui.verticalLayout->setAlignment(Qt::AlignTop);
-
-    //Label color can not be set in designer, so we do it here
-    this->ui.reachableLabel->setStyleSheet("QLabel { color : red; }");
-
-    //Component names
-    robotStateComponentName = "";
-    robotIKComponentName = "";
-    kinematicUnitComponentName = "";
-
-    manipSeparator = NULL;
-    currentSeparator = NULL;
-    tcpManip = NULL;
-    tcpManipTransform = NULL;
-    tcpManipColor = NULL;
-    tcpManipSphere = NULL;
-    tcpCurrentTransform = NULL;
-    tcpCurrentColor = NULL;
-    tcpCurrentSphere = NULL;
-    robotUpdateSensor = NULL;
-    textFieldUpdateSensor = NULL;
-}
-
-void armarx::RobotIKWidgetController::onInitComponent()
-{
-    //Prepare proxies
-    usingProxy(robotStateComponentName);
-    usingProxy(robotIKComponentName);
-    usingProxy(kinematicUnitComponentName);
-}
-
-void armarx::RobotIKWidgetController::onConnectComponent()
-{
-    //Get all proxies
-    robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>(robotStateComponentName);
-    kinematicUnitInterfacePrx = getProxy<KinematicUnitInterfacePrx>(kinematicUnitComponentName);
-    robotIKPrx = getProxy<RobotIKInterfacePrx>(robotIKComponentName);
-
-    //Load robot
-    robot = loadRobot(getIncludePaths());
-
-    if (!robot)
-    {
-        getObjectScheduler()->terminate();
-
-        if (getWidget()->parentWidget())
-        {
-            getWidget()->parentWidget()->close();
-        }
-
-        ARMARX_ERROR << "RobotIKPlugin: Unable to load robot file! Terminating." << std::endl;
-        return;
-    }
-
-    //Get visualization for our robot and add it to scene graph
-    CoinVisualizationPtr robotViewerVisualization = robot->getVisualization<VirtualRobot::CoinVisualization>();
-    this->ui.robotViewer->getRobotViewer()->getRootNode()->addChild(robotViewerVisualization->getCoinVisualization());
-
-    //Make a timer update robo pose every time tick
-    SoSensorManager* sensor_mgr = SoDB::getSensorManager();
-    robotUpdateSensor = new SoTimerSensor(robotUpdateTimerCB, this);
-    robotUpdateSensor->setInterval(SbTime(ROBOT_UPDATE_TIMER_MS / 1000.0f));
-    sensor_mgr->insertTimerSensor(robotUpdateSensor);
-
-    //And a timer to update the labels
-    textFieldUpdateSensor = new SoTimerSensor(textFieldUpdateTimerCB, this);
-    textFieldUpdateSensor->setInterval(SbTime(TEXTFIELD_UPDATE_TIMER_MS / 1000.0f));
-    sensor_mgr->insertTimerSensor(textFieldUpdateSensor);
-
-    //Get all kinematic chain descriptions and add them to the combo box
-    auto robotNodeSets = robot->getRobotNodeSets();
-
-    for (VirtualRobot::RobotNodeSetPtr s : robotNodeSets)
-    {
-        this->ui.comboBox->addItem(QString::fromStdString(s->getName()));
-    }
-
-    //Make sure comboBox is enabled so you can select a kinematic chain
-    this->ui.comboBox->setEnabled(true);
-
-    //Get all caertesian selections and add them
-    this->ui.cartesianselection->addItem(QString::fromStdString("Orientation and Position"));
-    this->ui.cartesianselection->addItem(QString::fromStdString("Position"));
-    this->ui.cartesianselection->addItem(QString::fromStdString("Orientation"));
-    this->ui.cartesianselection->addItem(QString::fromStdString("X position"));
-    this->ui.cartesianselection->addItem(QString::fromStdString("Y position"));
-    this->ui.cartesianselection->addItem(QString::fromStdString("Z position"));
-
-    //Make sure it is enabled
-    this->ui.cartesianselection->setEnabled(true);
-    this->ui.cartesianselection->setCurrentIndex(0);
-
-    connectSlots();
-    enableMainWidgetAsync(true);
-}
-
-void armarx::RobotIKWidgetController::onDisconnectComponent()
-{
-    //Stop timers
-    SoSensorManager* sensor_mgr = SoDB::getSensorManager();
-    sensor_mgr->removeTimerSensor(textFieldUpdateSensor);
-    sensor_mgr->removeTimerSensor(robotUpdateSensor);
-
-    //Remove all options in comboBox
-    this->ui.comboBox->clear();
-
-    //Disable ui controls
-    this->ui.comboBox->setEnabled(false);
-    this->ui.moveTCP->setEnabled(false);
-    this->ui.reachableLabel->setEnabled(false);
-    this->ui.reachableLabel->setText(QString::fromStdString("No kinematic chain selected"));
-    this->ui.reachableLabel->setStyleSheet("QLabel { color : red; }");
-    this->ui.errorValue->setEnabled(false);
-    this->ui.errorValue->setText(QString::fromStdString("Calculated error: 0"));
-    this->ui.errorValue->setEnabled(false);
-    this->ui.pushButton->setEnabled(false);
-    this->ui.currentPose->setEnabled(false);
-    this->ui.currentPoseMatrix->setEnabled(false);
-    this->ui.desiredPose->setEnabled(false);
-    this->ui.desiredPoseMatrix->setEnabled(false);
-    this->ui.resetManip->setEnabled(false);
-
-    //Remove all visualization
-    this->ui.robotViewer->getRobotViewer()->getRootNode()->removeAllChildren();
-
-    //Reset visualization pointers
-    manipSeparator = NULL;
-    currentSeparator = NULL;
-    tcpManip = NULL;
-    tcpManipTransform = NULL;
-    tcpManipColor = NULL;
-    tcpManipSphere = NULL;
-    tcpCurrentTransform = NULL;
-    tcpCurrentColor = NULL;
-    tcpCurrentSphere = NULL;
-    robotUpdateSensor = NULL;
-    textFieldUpdateSensor = NULL;
-
-    //Delete proxies
-    robotStateComponentPrx = NULL;
-    kinematicUnitInterfacePrx = NULL;
-    robotIKPrx = NULL;
-}
-
-void armarx::RobotIKWidgetController::onExitComponent()
-{
-    enableMainWidgetAsync(false);
-}
-
-QPointer<QDialog> armarx::RobotIKWidgetController::getConfigDialog(QWidget* parent)
-{
-    if (!dialog)
-    {
-        dialog = new RobotIKConfigDialog(parent);
-    }
-
-    return qobject_cast<RobotIKConfigDialog*>(dialog);
-}
-
-void armarx::RobotIKWidgetController::loadSettings(QSettings* settings)
-{
-
-}
-
-void armarx::RobotIKWidgetController::saveSettings(QSettings* settings)
-{
-
-}
-
-void armarx::RobotIKWidgetController::configured()
-{
-    robotStateComponentName = dialog->robotStateComponentProxyFinder->getSelectedProxyName().trimmed().toStdString();
-    robotIKComponentName = dialog->robotIKComponentProxyFinder->getSelectedProxyName().trimmed().toStdString();
-    kinematicUnitComponentName = dialog->kinematicUnitComponentProxyFinder->getSelectedProxyName().trimmed().toStdString();
-}
-
-void armarx::RobotIKWidgetController::solveIK()
-{
-    auto targetJointAngles = getIKSolution();
-
-    if (targetJointAngles.isReachable)
-    {
-        //Switch all control modes to ePositionControl
-        std::vector<VirtualRobot::RobotNodePtr> rn = robot->getRobotNodeSet(this->ui.comboBox->currentText().toStdString())->getAllRobotNodes();
-        NameControlModeMap jointModes;
-        NameValueMap jointAngles;
-
-        for (unsigned int i = 0; i < rn.size(); i++)
-        {
-            jointModes[rn[i]->getName()] = ePositionControl;
-            jointAngles[rn[i]->getName()] = 0.0f;
-        }
-
-        kinematicUnitInterfacePrx->switchControlMode(jointModes);
-        kinematicUnitInterfacePrx->setJointAngles(targetJointAngles.jointAngles);
-    }
-}
-
-void armarx::RobotIKWidgetController::kinematicChainChanged(const QString& arg1)
-{
-    //An item has been selected, so we can allow the user to use the ui now
-    //The manipulator will be set to the position of the current tcp, so this pose
-    //has to be reachable!
-    this->ui.moveTCP->setEnabled(true);
-    this->ui.reachableLabel->setEnabled(true);
-    this->ui.reachableLabel->setText(QString::fromStdString("Pose reachable!"));
-    this->ui.reachableLabel->setStyleSheet("QLabel { color : green; }");
-    this->ui.errorValue->setText(QString::fromStdString("Calculated error: 0"));
-    this->ui.errorValue->setEnabled(true);
-    this->ui.pushButton->setEnabled(true);
-    this->ui.currentPose->setEnabled(true);
-    this->ui.currentPoseMatrix->setEnabled(true);
-    this->ui.desiredPose->setEnabled(true);
-    this->ui.desiredPoseMatrix->setEnabled(true);
-    this->ui.resetManip->setEnabled(true);
-
-    //Remove all current tcp and desired tcp pose visualization if present
-    if (currentSeparator)
-    {
-        this->ui.robotViewer->getRobotViewer()->getRootNode()->removeChild(currentSeparator);
-    }
-
-    if (manipSeparator)
-    {
-        this->ui.robotViewer->getRobotViewer()->getRootNode()->removeChild(manipSeparator);
-    }
-
-    //Create new Visualization
-    manipSeparator = new SoSeparator;
-    currentSeparator = new SoSeparator;
-
-    tcpCurrentColor = new SoMaterial;
-    tcpCurrentColor->transparency = 0.6f;
-    tcpCurrentSphere = new SoSphere;
-    tcpCurrentSphere->radius = 0.06f;
-    tcpManipColor = new SoMaterial;
-    tcpManipColor->ambientColor.setValue(0, 1, 0);
-    tcpManipColor->transparency = 0.3f;
-    tcpManipSphere = new SoSphere;
-    tcpManipSphere->radius = 0.06f;
-    tcpManip = new SoTransformerManip;
-
-    //We need this null separator to remove the scale knobs
-    //This won't lead to memory leak, because this guy
-    //will be deleted when the separator itself gets removed
-    //from the scene graph
-    SoSeparator* nullSep = new SoSeparator;
-
-    //Make all scale knobs disappear
-    tcpManip->getDragger()->setPart("scale1", nullSep);
-    tcpManip->getDragger()->setPart("scale2", nullSep);
-    tcpManip->getDragger()->setPart("scale3", nullSep);
-    tcpManip->getDragger()->setPart("scale4", nullSep);
-    tcpManip->getDragger()->setPart("scale5", nullSep);
-    tcpManip->getDragger()->setPart("scale6", nullSep);
-    tcpManip->getDragger()->setPart("scale7", nullSep);
-    tcpManip->getDragger()->setPart("scale8", nullSep);
-
-    tcpManip->getDragger()->addFinishCallback(manipFinishCallback, this);
-    tcpCurrentTransform = new SoTransform;
-    tcpManipTransform = new SoTransform;
-
-    manipSeparator->addChild(tcpManipTransform);
-    manipSeparator->addChild(tcpManip);
-    manipSeparator->addChild(tcpManipColor);
-    manipSeparator->addChild(tcpManipSphere);
-
-    currentSeparator->addChild(tcpCurrentTransform);
-    currentSeparator->addChild(tcpCurrentColor);
-    currentSeparator->addChild(tcpCurrentSphere);
-
-    this->ui.robotViewer->getRobotViewer()->getRootNode()->insertChild(currentSeparator, 0);
-    this->ui.robotViewer->getRobotViewer()->getRootNode()->insertChild(manipSeparator, 0);
-
-    //Get TCP pose
-    Eigen::Matrix4f mat = robot->getRobotNodeSet(arg1.toStdString())->getTCP()->getGlobalPose();
-    mat(0, 3) /= 1000;
-    mat(1, 3) /= 1000;
-    mat(2, 3) /= 1000;
-
-    //Apply to current and desired visualizer
-    tcpCurrentTransform->setMatrix(VirtualRobot::CoinVisualizationFactory::getSbMatrix(mat));
-    tcpManipTransform->setMatrix(VirtualRobot::CoinVisualizationFactory::getSbMatrix(mat));
-
-    /*tcpManip->translation.setValue(mat(0, 3) / 1000, mat(1, 3) / 1000, mat(2, 3) / 1000);
-    tcpManip->rotation.setValue(SbRotation(VirtualRobot::CoinVisualizationFactory::getSbMatrix(mat)));*/
-}
-
-void armarx::RobotIKWidgetController::caertesianSelectionChanged(const QString& arg1)
-{
-    //If there is a manip in the scene we pretend it just moved to update color etc.
-    if (tcpManip)
-    {
-        manipFinishCallback(this, NULL);
-    }
-}
-
-void armarx::RobotIKWidgetController::resetManip()
-{
-    //Triggers reset of manipulator in kinematicChainChanged
-    kinematicChainChanged(this->ui.comboBox->currentText());
-}
-
-void armarx::RobotIKWidgetController::connectSlots()
-{
-    connect(ui.resetManip, SIGNAL(clicked()), this, SLOT(resetManip()), Qt::QueuedConnection);
-    connect(ui.pushButton, SIGNAL(clicked()), this, SLOT(solveIK()), Qt::QueuedConnection);
-    connect(ui.comboBox, SIGNAL(currentIndexChanged(QString)), this, SLOT(kinematicChainChanged(QString)), Qt::UniqueConnection);
-    connect(ui.cartesianselection, SIGNAL(currentIndexChanged(QString)), this, SLOT(caertesianSelectionChanged(QString)), Qt::UniqueConnection);
-}
-
-armarx::StringList armarx::RobotIKWidgetController::getIncludePaths()
-{
-    StringList includePaths;
-
-    try
-    {
-        StringList packages = robotStateComponentPrx->getArmarXPackages();
-        packages.push_back(Application::GetProjectName());
-
-        for (const std::string& projectName : packages)
-        {
-            if (projectName.empty())
-            {
-                continue;
-            }
-
-            CMakePackageFinder project(projectName);
-            StringList projectIncludePaths;
-            auto pathsString = project.getDataDir();
-            boost::split(projectIncludePaths,
-                         pathsString,
-                         boost::is_any_of(";,"),
-                         boost::token_compress_on);
-            includePaths.insert(includePaths.end(), projectIncludePaths.begin(), projectIncludePaths.end());
-        }
-    }
-    catch (...)
-    {
-        ARMARX_ERROR << "Unable to retrieve robot filename." << std::endl;
-    }
-
-    return includePaths;
-}
-
-VirtualRobot::RobotPtr armarx::RobotIKWidgetController::loadRobot(StringList includePaths)
-{
-    try
-    {
-        std::string rfile = robotStateComponentPrx->getRobotFilename();
-        ArmarXDataPath::getAbsolutePath(rfile, rfile, includePaths);
-        return VirtualRobot::RobotIO::loadRobot(rfile);
-    }
-    catch (...)
-    {
-        ARMARX_ERROR << "Unable to load robot from file" << std::endl;
-        return VirtualRobot::RobotPtr();
-    }
-}
-
-void armarx::RobotIKWidgetController::manipFinishCallback(void* data, SoDragger* dragger)
-{
-    RobotIKWidgetController* controller = static_cast<RobotIKWidgetController*>(data);
-
-    auto targetJointAngles = controller->getIKSolution();
-
-    if (targetJointAngles.isReachable)
-    {
-        //Green
-        controller->tcpManipColor->ambientColor.setValue(0, 1, 0);
-        controller->ui.reachableLabel->setText(QString::fromStdString("Pose reachable!"));
-        controller->ui.reachableLabel->setStyleSheet("QLabel { color : green; }");
-    }
-    else
-    {
-        //Red
-        controller->tcpManipColor->ambientColor.setValue(1, 0, 0);
-        controller->ui.reachableLabel->setText(QString::fromStdString("Pose unreachable!"));
-        controller->ui.reachableLabel->setStyleSheet("QLabel { color : red; }");
-    }
-
-    //Display calculated error
-    controller->ui.errorValue->setText(QString::fromStdString("Calculated error: " + boost::lexical_cast<std::string>(targetJointAngles.error)));
-}
-
-void armarx::RobotIKWidgetController::robotUpdateTimerCB(void* data, SoSensor* sensor)
-{
-    RobotIKWidgetController* controller = static_cast<RobotIKWidgetController*>(data);
-
-    if (!controller || !controller->robotStateComponentPrx || !controller->robot)
-    {
-        return;
-    }
-
-    try
-    {
-        armarx::RemoteRobot::synchronizeLocalClone(controller->robot, controller->robotStateComponentPrx);
-
-        if (controller->currentSeparator)
-        {
-            Eigen::Matrix4f tcpMatrix = controller->robot->getRobotNodeSet(controller->ui.comboBox->currentText().toStdString())->getTCP()->getGlobalPose();
-            //Apply tcp position to indicator
-            tcpMatrix(0, 3) /= 1000;
-            tcpMatrix(1, 3) /= 1000;
-            tcpMatrix(2, 3) /= 1000;
-            controller->tcpCurrentTransform->setMatrix(VirtualRobot::CoinVisualizationFactory::getSbMatrix(tcpMatrix));
-        }
-
-        if (controller->startUpCameraPositioningFlag)
-        {
-            controller->ui.robotViewer->getRobotViewer()->cameraViewAll();
-            controller->startUpCameraPositioningFlag = false;
-        }
-    }
-    catch (...) {};
-}
-
-void armarx::RobotIKWidgetController::textFieldUpdateTimerCB(void* data, SoSensor* sensor)
-{
-    RobotIKWidgetController* controller = static_cast<RobotIKWidgetController*>(data);
-
-    if (!controller)
-    {
-        return;
-    }
-
-    if (controller->currentSeparator)
-    {
-        Eigen::Matrix4f tcpMatrix = controller->robot->getRobotNodeSet(controller->ui.comboBox->currentText().toStdString())->getTCP()->getGlobalPose();
-
-        //Set text label to tcp matrix
-        std::stringstream buffer;
-        buffer << tcpMatrix;
-        std::string matrixText = buffer.str();
-        controller->ui.currentPoseMatrix->setText(QString::fromStdString(matrixText));
-
-        //Set text label for desired tcp pose
-        //Therefore calculate current manipulator pose
-        SoGetMatrixAction* action = new SoGetMatrixAction(SbViewportRegion());
-        SoSearchAction sa;
-        sa.setNode(controller->tcpManipSphere);
-        sa.setSearchingAll(TRUE);                // Search all nodes
-        SoBaseKit::setSearchingChildren(TRUE);   // Even inside nodekits
-        sa.apply(controller->ui.robotViewer->getRobotViewer()->getRootNode());
-
-        action->apply(sa.getPath());
-
-        SbMatrix matrix = action->getMatrix();
-
-        Eigen::Matrix4f mat = Eigen::Matrix4f::Identity();
-        mat(0, 0) = matrix[0][0];
-        mat(0, 1) = matrix[1][0];
-        mat(0, 2) = matrix[2][0];
-        mat(0, 3) = matrix[3][0] * 1000;
-
-        mat(1, 0) = matrix[0][1];
-        mat(1, 1) = matrix[1][1];
-        mat(1, 2) = matrix[2][1];
-        mat(1, 3) = matrix[3][1] * 1000;
-
-        mat(2, 0) = matrix[0][2];
-        mat(2, 1) = matrix[1][2];
-        mat(2, 2) = matrix[2][2];
-        mat(2, 3) = matrix[3][2] * 1000;
-
-        mat(3, 0) = matrix[0][3];
-        mat(3, 1) = matrix[1][3];
-        mat(3, 2) = matrix[2][3];
-        mat(3, 3) = matrix[3][3];
-
-        //Set text label to manip matrix
-        std::stringstream buffer2;
-        buffer2 << mat;
-        std::string matrixText2 = buffer2.str();
-        controller->ui.desiredPoseMatrix->setText(QString::fromStdString(matrixText2));
-
-        delete(action);
-    }
-}
-
-armarx::ExtendedIKResult armarx::RobotIKWidgetController::getIKSolution()
-{
-    SoGetMatrixAction* action = new SoGetMatrixAction(SbViewportRegion());
-    SoSearchAction sa;
-    sa.setNode(tcpManipSphere);
-    sa.setSearchingAll(TRUE);                // Search all nodes
-    SoBaseKit::setSearchingChildren(TRUE);   // Even inside nodekits
-    sa.apply(this->ui.robotViewer->getRobotViewer()->getRootNode());
-
-    action->apply(sa.getPath());
-
-    SbMatrix matrix = action->getMatrix();
-
-    Eigen::Matrix4f mat = Eigen::Matrix4f::Identity();
-    mat(0, 0) = matrix[0][0];
-    mat(0, 1) = matrix[1][0];
-    mat(0, 2) = matrix[2][0];
-    mat(0, 3) = matrix[3][0] * 1000;
-
-    mat(1, 0) = matrix[0][1];
-    mat(1, 1) = matrix[1][1];
-    mat(1, 2) = matrix[2][1];
-    mat(1, 3) = matrix[3][1] * 1000;
-
-    mat(2, 0) = matrix[0][2];
-    mat(2, 1) = matrix[1][2];
-    mat(2, 2) = matrix[2][2];
-    mat(2, 3) = matrix[3][2] * 1000;
-
-    mat(3, 0) = matrix[0][3];
-    mat(3, 1) = matrix[1][3];
-    mat(3, 2) = matrix[2][3];
-    mat(3, 3) = matrix[3][3];
-
-    //    mat = robot->getRootNode()->toLocalCoordinateSystem(mat);
-    return (robotIKPrx->computeExtendedIKGlobalPose(this->ui.comboBox->currentText().toStdString(), new armarx::Pose(mat),
-            convertOption(this->ui.cartesianselection->currentText().toStdString())));
-}
-
-armarx::CartesianSelection armarx::RobotIKWidgetController::convertOption(std::string option)
-{
-    if (option == "Orientation and Position")
-    {
-        return eAll;
-    }
-    else if (option == "Position")
-    {
-        return ePosition;
-    }
-    else if (option == "Orientation")
-    {
-        return eOrientation;
-    }
-    else if (option == "X position")
-    {
-        return eX;
-    }
-    else if (option == "Y position")
-    {
-        return eY;
-    }
-    else if (option == "Z position")
-    {
-        return eZ;
-    }
-
-    return eAll;
-}
-
-Q_EXPORT_PLUGIN2(armarx_gui_RobotIKGuiPlugin, armarx::RobotIKGuiPlugin)
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.h b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.h
deleted file mode 100644
index 3dd135614b0630ccbcca55d254fc9da84c8e3291..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.h
+++ /dev/null
@@ -1,145 +0,0 @@
-/*
-* This file is part of ArmarX.
-*
-* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License version 2 as
-* published by the Free Software Foundation.
-*
-* ArmarX is distributed in the hope that it will be useful, but
-* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program. If not, see <http://www.gnu.org/licenses/>.
-*
-* @package    ArmarX::
-* @author     Philipp Schmidt
-* @date       2015
-* @license    http://www.gnu.org/licenses/gpl-2.0.txt
-*             GNU General Public License
-
-*/
-
-#ifndef RobotIKGUIPLUGIN_H
-#define RobotIKGUIPLUGIN_H
-
-//Gui
-#include "RobotIKConfigDialog.h"
-#include "ui_RobotIKGuiPlugin.h"
-
-//ArmarX includes
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
-#include <RobotAPI/interface/core/RobotIK.h>
-#include <RobotAPI/interface/core/RobotState.h>
-#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
-
-//Qt includes
-#include <QObject>
-
-//VirtualRobot includes
-#include <VirtualRobot/Robot.h>
-#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
-
-//Inventor includes
-#include <Inventor/sensors/SoTimerSensor.h>
-#include <Inventor/manips/SoTransformerManip.h>
-#include <Inventor/nodes/SoSphere.h>
-#include <Inventor/nodes/SoMaterial.h>
-
-namespace armarx
-{
-    class RobotIKConfigDialog;
-
-    class RobotIKGuiPlugin : public ArmarXGuiPlugin
-    {
-    public:
-        RobotIKGuiPlugin();
-
-        QString getPluginName()
-        {
-            return "RobotIKGuiPlugin";
-        }
-    };
-
-    class RobotIKWidgetController : public ArmarXComponentWidgetController
-    {
-        Q_OBJECT
-
-    public:
-        RobotIKWidgetController();
-        virtual ~RobotIKWidgetController() {}
-
-        // inherited from Component
-        virtual void onInitComponent();
-        virtual void onConnectComponent();
-        virtual void onDisconnectComponent();
-        virtual void onExitComponent();
-
-        // inherited of ArmarXWidget
-        virtual QString getWidgetName() const
-        {
-            return "RobotControl.RobotIK";
-        }
-        QPointer<QDialog> getConfigDialog(QWidget* parent = 0);
-        virtual void loadSettings(QSettings* settings);
-        virtual void saveSettings(QSettings* settings);
-        void configured();
-
-    public slots:
-        void solveIK();
-        void kinematicChainChanged(const QString& arg1);
-        void caertesianSelectionChanged(const QString& arg1);
-        void resetManip();
-
-    protected:
-        RobotStateComponentInterfacePrx robotStateComponentPrx;
-        KinematicUnitInterfacePrx kinematicUnitInterfacePrx;
-        RobotIKInterfacePrx robotIKPrx;
-
-        Ui::RobotIKGuiPlugin ui;
-
-    private:
-        void connectSlots();
-        std::string robotStateComponentName;
-        std::string kinematicUnitComponentName;
-        std::string robotIKComponentName;
-
-        QPointer<RobotIKConfigDialog> dialog;
-
-        VirtualRobot::RobotPtr robot;
-        StringList getIncludePaths();
-        VirtualRobot::RobotPtr loadRobot(StringList includePaths);
-
-        SoSeparator* manipSeparator;
-        SoSeparator* currentSeparator;
-
-        SoTransformerManip* tcpManip;
-        static void manipFinishCallback(void* data, SoDragger* manip);
-        SoTransform* tcpManipTransform;
-        SoMaterial* tcpManipColor;
-        SoSphere* tcpManipSphere;
-
-        SoTransform* tcpCurrentTransform;
-        SoMaterial* tcpCurrentColor;
-        SoSphere* tcpCurrentSphere;
-
-        SoTimerSensor* robotUpdateSensor;
-        static void robotUpdateTimerCB(void* data, SoSensor* sensor);
-
-        SoTimerSensor* textFieldUpdateSensor;
-        static void textFieldUpdateTimerCB(void* data, SoSensor* sensor);
-
-        ExtendedIKResult getIKSolution();
-
-        CartesianSelection convertOption(std::string option);
-
-        bool startUpCameraPositioningFlag;
-
-    };
-    typedef boost::shared_ptr<RobotIKWidgetController> RobotIKGuiPluginPtr;
-    typedef boost::shared_ptr<VirtualRobot::CoinVisualization> CoinVisualizationPtr;
-}
-
-#endif
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.ui b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.ui
deleted file mode 100644
index 4e41df70c7e0f162fe7573c7c30fa5e06269458d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.ui
+++ /dev/null
@@ -1,318 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>RobotIKGuiPlugin</class>
- <widget class="QWidget" name="RobotIKGuiPlugin">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>1143</width>
-    <height>663</height>
-   </rect>
-  </property>
-  <property name="sizePolicy">
-   <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-    <horstretch>0</horstretch>
-    <verstretch>0</verstretch>
-   </sizepolicy>
-  </property>
-  <property name="minimumSize">
-   <size>
-    <width>0</width>
-    <height>100</height>
-   </size>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QGridLayout" name="gridLayout_2">
-   <item row="0" column="0">
-    <layout class="QHBoxLayout" name="horizontalLayout">
-     <item>
-      <widget class="armarx::RobotViewerWidget" name="robotViewer" native="true"/>
-     </item>
-     <item>
-      <layout class="QVBoxLayout" name="verticalLayout">
-       <property name="sizeConstraint">
-        <enum>QLayout::SetMinimumSize</enum>
-       </property>
-       <item>
-        <widget class="QLabel" name="choseKinematic">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="text">
-          <string>Choose kinematic chain to use:</string>
-         </property>
-         <property name="scaledContents">
-          <bool>false</bool>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QComboBox" name="comboBox"/>
-       </item>
-       <item>
-        <widget class="QLabel" name="caertesianselectionlabel">
-         <property name="enabled">
-          <bool>true</bool>
-         </property>
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="text">
-          <string>Select what to take into account when solving IK:</string>
-         </property>
-         <property name="scaledContents">
-          <bool>false</bool>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QComboBox" name="cartesianselection">
-         <property name="enabled">
-          <bool>true</bool>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <spacer name="verticalSpacer">
-         <property name="orientation">
-          <enum>Qt::Vertical</enum>
-         </property>
-         <property name="sizeType">
-          <enum>QSizePolicy::Fixed</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>20</width>
-           <height>20</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item>
-        <widget class="QLabel" name="reachableLabel">
-         <property name="enabled">
-          <bool>false</bool>
-         </property>
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="font">
-          <font>
-           <pointsize>15</pointsize>
-          </font>
-         </property>
-         <property name="text">
-          <string>No kinematic chain selected</string>
-         </property>
-         <property name="textFormat">
-          <enum>Qt::AutoText</enum>
-         </property>
-         <property name="scaledContents">
-          <bool>false</bool>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLabel" name="errorValue">
-         <property name="enabled">
-          <bool>false</bool>
-         </property>
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="font">
-          <font>
-           <pointsize>15</pointsize>
-          </font>
-         </property>
-         <property name="text">
-          <string>Calculated error: 0</string>
-         </property>
-         <property name="textFormat">
-          <enum>Qt::AutoText</enum>
-         </property>
-         <property name="scaledContents">
-          <bool>false</bool>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLabel" name="moveTCP">
-         <property name="enabled">
-          <bool>false</bool>
-         </property>
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="text">
-          <string>Move TCP to pose of manipulator in the 3D Viewer:</string>
-         </property>
-         <property name="scaledContents">
-          <bool>false</bool>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="pushButton">
-         <property name="enabled">
-          <bool>false</bool>
-         </property>
-         <property name="text">
-          <string>Move TCP</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="resetManip">
-         <property name="enabled">
-          <bool>false</bool>
-         </property>
-         <property name="text">
-          <string>Reset manipulator to current TCP pose</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <spacer name="verticalSpacer_2">
-         <property name="orientation">
-          <enum>Qt::Vertical</enum>
-         </property>
-         <property name="sizeType">
-          <enum>QSizePolicy::Fixed</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>20</width>
-           <height>20</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item>
-        <widget class="QLabel" name="currentPose">
-         <property name="enabled">
-          <bool>false</bool>
-         </property>
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="font">
-          <font>
-           <pointsize>13</pointsize>
-          </font>
-         </property>
-         <property name="text">
-          <string>Current pose of TCP:</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLabel" name="currentPoseMatrix">
-         <property name="enabled">
-          <bool>false</bool>
-         </property>
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="text">
-          <string>No kinematic chain selected</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <spacer name="verticalSpacer_3">
-         <property name="orientation">
-          <enum>Qt::Vertical</enum>
-         </property>
-         <property name="sizeType">
-          <enum>QSizePolicy::Fixed</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>20</width>
-           <height>20</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item>
-        <widget class="QLabel" name="desiredPose">
-         <property name="enabled">
-          <bool>false</bool>
-         </property>
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="font">
-          <font>
-           <pointsize>13</pointsize>
-          </font>
-         </property>
-         <property name="text">
-          <string>Desired pose of TCP:</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLabel" name="desiredPoseMatrix">
-         <property name="enabled">
-          <bool>false</bool>
-         </property>
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="text">
-          <string>No kinematic chain selected</string>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-    </layout>
-   </item>
-  </layout>
- </widget>
- <customwidgets>
-  <customwidget>
-   <class>armarx::RobotViewerWidget</class>
-   <extends>QWidget</extends>
-   <header>RobotAPI/gui-plugins/RobotIKPlugin/RobotViewerWidget.h</header>
-   <container>1</container>
-  </customwidget>
- </customwidgets>
- <resources/>
- <connections/>
- <slots>
-  <slot>focusCameraChanged()</slot>
- </slots>
-</ui>
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewer.cpp b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewer.cpp
deleted file mode 100644
index 51827017e3fffe8b6bd2d4016893c395e42c3d54..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewer.cpp
+++ /dev/null
@@ -1,329 +0,0 @@
-#include "RobotViewer.h"
-
-#include <Inventor/nodes/SoSeparator.h>
-#include <Inventor/nodes/SoPickStyle.h>
-#include <Inventor/nodes/SoMaterial.h>
-#include <Inventor/nodes/SoDrawStyle.h>
-#include <Inventor/nodes/SoVertexProperty.h>
-#include <Inventor/nodes/SoLineSet.h>
-
-#include <Inventor/events/SoMouseButtonEvent.h>
-#include <Inventor/events/SoLocation2Event.h>
-
-armarx::RobotViewer::RobotViewer(QWidget* widget) : SoQtExaminerViewer(widget), sceneRootNode(new SoSeparator), contentRootNode(new SoSeparator), camera(new SoPerspectiveCamera)
-{
-    this->setBackgroundColor(SbColor(150 / 255.0f, 150 / 255.0f, 150 / 255.0f));
-    this->setAccumulationBuffer(true);
-    this->setHeadlight(true);
-    this->setViewing(false);
-    this->setDecoration(false);
-#ifdef WIN32
-#ifndef _DEBUG
-    this->setAntialiasing(true, 4);
-#endif
-#endif
-    this->setTransparencyType(SoGLRenderAction::SORTED_OBJECT_BLEND);
-    this->setFeedbackVisibility(true);
-
-    //Create scene root node
-    sceneRootNode->ref();
-    this->setSceneGraph(sceneRootNode);
-
-    //Add camera to scene
-    sceneRootNode->addChild(camera);
-    this->setCamera(camera);
-
-    //Give camera standard position
-    camera->position.setValue(SbVec3f(10, -10, 5));
-    camera->pointAt(SbVec3f(0, 0, 0), SbVec3f(0, 0, 1));
-
-    //Add gridfloor root and make it unpickable
-    SoSeparator* gridFloorRoot = new SoSeparator();
-    SoPickStyle* unpickable = new SoPickStyle();
-    unpickable->style = SoPickStyle::UNPICKABLE;
-    SoPickStyle* pickable = new SoPickStyle();
-    pickable->style = SoPickStyle::SHAPE;
-
-    sceneRootNode->addChild(unpickable);
-    sceneRootNode->addChild(gridFloorRoot);
-    sceneRootNode->addChild(pickable);
-
-    /*/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-    Here we draw our grid floor. To change the way the grid floor is drawn change the following constants.
-    GRIDSIZE:       How many lines to display for each direction of each axis.
-                    E. g.: 2 would lead to 2 lines in negative and positive direction respectively, plus indicator for axis.
-                    5 lines in sum.
-    GRIDUNIT:       Factor for coin units, e.g. 2 means between 2 lines there is space for 2 coin units.
-    GRIDSUBSIZE:    How many subunits to display between the larger lines. So 5 would lead to 3 lines between 2 large lines for 5
-                    subunits.
-    GRIDPATTERN:    Pattern for sublines. Bitpattern, where 1 is line and 0 is no line.
-    //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////*/
-    const int GRIDSIZE = 3;
-    const int GRIDUNIT = 15;
-    const int GRIDSUBSIZE = 10;
-    const short GRIDPATTERN = 0xCCCC;
-
-    //Red material for X axis
-    SoMaterial* red = new SoMaterial;
-    red->diffuseColor = SbColor(1, 0, 0);
-    //Green material for Y axis
-    SoMaterial* green = new SoMaterial;
-    green->diffuseColor = SbColor(0, 1, 0);
-    //Blue material for Z axis
-    SoMaterial* blue = new SoMaterial;
-    blue->diffuseColor = SbColor(0, 0, 1);
-
-    //Small lines
-    SoDrawStyle* thinStyle = new SoDrawStyle;
-    thinStyle->lineWidth = 1;
-    thinStyle->linePattern = GRIDPATTERN;
-    //Larger lines
-    SoDrawStyle* largeStyle = new SoDrawStyle;
-    largeStyle->lineWidth = 2;
-
-    //Our set of vertices for the grid lines
-    SoVertexProperty* vertices = new SoVertexProperty;
-    SoVertexProperty* subVertices = new SoVertexProperty;
-    SoVertexProperty* xVertices = new SoVertexProperty;
-    SoVertexProperty* yVertices = new SoVertexProperty;
-    SoVertexProperty* zVertices = new SoVertexProperty;
-
-    //Definition of which vertex belongs to which line and should be connected
-    SoLineSet* lines = new SoLineSet;
-    SoLineSet* subLines = new SoLineSet;
-    SoLineSet* xLines = new SoLineSet;
-    SoLineSet* yLines = new SoLineSet;
-    SoLineSet* zLines = new SoLineSet;
-
-    //Add 2 vertices for X axis
-    xVertices->vertex.set1Value(0, GRIDSIZE * GRIDUNIT, 0, 0);
-    xVertices->vertex.set1Value(1, -(GRIDSIZE * GRIDUNIT), 0, 0);
-    //Connect them to a line by adding '2' to numVertices at the correct position
-    xLines->numVertices.set1Value(0, 2);
-
-    //Y axis
-    yVertices->vertex.set1Value(0, 0, GRIDSIZE * GRIDUNIT, 0);
-    yVertices->vertex.set1Value(1, 0, -(GRIDSIZE * GRIDUNIT), 0);
-    yLines->numVertices.set1Value(0, 2);
-
-    //Z axis
-    zVertices->vertex.set1Value(0, 0, 0, GRIDSIZE * GRIDUNIT);
-    zVertices->vertex.set1Value(1, 0, 0, -(GRIDSIZE * GRIDUNIT));
-    zLines->numVertices.set1Value(0, 2);
-
-    //Counters to keep track of vertex index
-    int verticescounter = 0;
-    int subverticescounter = 0;
-
-    //Draw all lines parallel to the X and Y axis and all sublines, excepted axis itself
-    for (int i = -(GRIDSIZE * GRIDUNIT); i < GRIDUNIT * (GRIDSIZE + 1); i += GRIDUNIT)
-    {
-        if (i != 0)
-        {
-            vertices->vertex.set1Value(verticescounter++, GRIDSIZE * GRIDUNIT, i, 0);
-            vertices->vertex.set1Value(verticescounter++, -(GRIDSIZE * GRIDUNIT), i, 0);
-            lines->numVertices.set1Value((verticescounter - 1) / 2, 2);
-
-            vertices->vertex.set1Value(verticescounter++, i, GRIDSIZE * GRIDUNIT, 0);
-            vertices->vertex.set1Value(verticescounter++, i, -(GRIDSIZE * GRIDUNIT), 0);
-            lines->numVertices.set1Value((verticescounter - 1) / 2, 2);
-        }
-
-        //If this is not the last line to draw, draw sublines
-        if (i < GRIDUNIT * GRIDSIZE)
-        {
-            float delta = (float)GRIDUNIT / (float)GRIDSUBSIZE;
-
-            for (int n = 1; n < GRIDSUBSIZE; n++)
-            {
-                subVertices->vertex.set1Value(subverticescounter++, GRIDSIZE * GRIDUNIT, (float)i + (float)n * delta, 0);
-                subVertices->vertex.set1Value(subverticescounter++, -(GRIDSIZE * GRIDUNIT), (float)i + (float)n * delta, 0);
-                subLines->numVertices.set1Value((subverticescounter - 1) / 2, 2);
-
-                subVertices->vertex.set1Value(subverticescounter++, (float)i + (float)n * delta, GRIDSIZE * GRIDUNIT, 0);
-                subVertices->vertex.set1Value(subverticescounter++, (float)i + (float)n * delta, -(GRIDSIZE * GRIDUNIT), 0);
-                subLines->numVertices.set1Value((subverticescounter - 1) / 2, 2);
-            }
-        }
-    }
-
-
-    lines->vertexProperty.setValue(vertices);
-    subLines->vertexProperty.setValue(subVertices);
-    xLines->vertexProperty.setValue(xVertices);
-    yLines->vertexProperty.setValue(yVertices);
-    zLines->vertexProperty.setValue(zVertices);
-
-    gridFloorRoot->addChild(thinStyle);
-    gridFloorRoot->addChild(subLines);
-    gridFloorRoot->addChild(largeStyle);
-    gridFloorRoot->addChild(lines);
-    gridFloorRoot->addChild(red);
-    gridFloorRoot->addChild(xLines);
-    gridFloorRoot->addChild(green);
-    gridFloorRoot->addChild(yLines);
-    gridFloorRoot->addChild(blue);
-    gridFloorRoot->addChild(zLines);
-
-    ///////////////////////////////////////////////////////////////////////////////////////////////////////////////
-    //Gridfloor done
-
-    //Create content root node
-    sceneRootNode->addChild(contentRootNode);
-}
-
-armarx::RobotViewer::~RobotViewer()
-{
-    sceneRootNode->unref();
-}
-
-SoSeparator* armarx::RobotViewer::getRootNode()
-{
-    return this->contentRootNode;
-}
-
-void armarx::RobotViewer::cameraViewAll()
-{
-    camera->viewAll(this->contentRootNode, SbViewportRegion());
-}
-
-//Override the default navigation behaviour of the SoQtExaminerViewer
-SbBool armarx::RobotViewer::processSoEvent(const SoEvent* const event)
-{
-    const SoType type(event->getTypeId());
-
-    //Remapping mouse press events
-    if (type.isDerivedFrom(SoMouseButtonEvent::getClassTypeId()))
-    {
-        SoMouseButtonEvent* const ev = (SoMouseButtonEvent*) event;
-        const int button = ev->getButton();
-        const SbBool press = ev->getState() == SoButtonEvent::DOWN ? TRUE : FALSE;
-
-        //LEFT MOUSE BUTTON
-        if (button == SoMouseButtonEvent::BUTTON1)
-        {
-            SoQtExaminerViewer::processSoEvent(ev);
-        }
-
-        //MIDDLE MOUSE BUTTON
-        if (button == SoMouseButtonEvent::BUTTON3)
-        {
-            /*Middle mouse button now is used for all changes in camera perspective.
-            To also display the cool little rotation cursor, viewing mode is set to on
-            while button is down*/
-
-            //Enable or disable viewing mode while BUTTON3 pressed
-            if (press)
-            {
-                if (!this->isViewing())
-                {
-                    this->setViewing(true);
-                }
-            }
-            else
-            {
-                if (this->isViewing())
-                {
-                    this->setViewing(false);
-                }
-            }
-
-            //Remap BUTTON3 to BUTTON1
-            ev->setButton(SoMouseButtonEvent::BUTTON1);
-
-            //Make sure this REALLY only can happen when viewing mode is on.
-            //Zooming can also turn it on and it leads to weird effects when doing both
-            //(deselections in scene etc.) because SoQtExaminerViewer passes BUTTON1
-            //events up to scenegraph when not in viewing mode.
-            if (this->isViewing())
-            {
-                return SoQtExaminerViewer::processSoEvent(ev);
-            }
-        }
-
-        //MOUSE WHEEL UP AND DOWN
-        if (button == SoMouseButtonEvent::BUTTON4 || button == SoMouseButtonEvent::BUTTON5)
-        {
-            /*Zooming is allowed, so just use it. We have to temporarily turn viewing mode
-            on to make SoQtExaminerViewer allow zooming.*/
-
-            //Swap BUTTON4 and BUTTON5 because zooming out while scrolling up is just retarded
-            ev->setButton(button == SoMouseButtonEvent::BUTTON4 ?
-                          SoMouseButtonEvent::BUTTON5 : SoMouseButtonEvent::BUTTON4);
-
-            //Zooming is allowed, so just pass it and temporarily set viewing mode on, if it is not already
-            //(otherwise coin gives us warning messages...)
-            if (!this->isViewing())
-            {
-                if (!this->isViewing())
-                {
-                    this->setViewing(true);
-                }
-
-                SoQtExaminerViewer::processSoEvent(ev);
-
-                if (this->isViewing())
-                {
-                    this->setViewing(false);
-                }
-            }
-            else
-            {
-                SoQtExaminerViewer::processSoEvent(ev);
-            }
-
-            return TRUE;
-        }
-    }
-
-    // Keyboard handling
-    if (type.isDerivedFrom(SoKeyboardEvent::getClassTypeId()))
-    {
-        const SoKeyboardEvent* const ev = (const SoKeyboardEvent*) event;
-
-        /*The escape key and super key (windows key) is used to switch between
-        viewing modes. We need to disable this behaviour completely.*/
-
-        //65513 seems to be the super key, which is not available in the enum of keys in coin....
-        if (ev->getKey() == SoKeyboardEvent::ESCAPE || ev->getKey() == 65513)
-        {
-            return TRUE;
-        }
-        else if (ev->getKey() == SoKeyboardEvent::S && ev->getState() == SoButtonEvent::DOWN)
-        {
-            if (!this->isSeekMode())
-            {
-                if (!this->isViewing())
-                {
-                    this->setViewing(true);
-                }
-
-                SoQtExaminerViewer::processSoEvent(ev);
-                this->setSeekTime(0.5);
-                this->seekToPoint(ev->getPosition());
-
-                if (this->isViewing())
-                {
-                    this->setViewing(false);
-                }
-            }
-        }
-        else
-        {
-            SoQtExaminerViewer::processSoEvent(ev);
-        }
-
-        SoQtExaminerViewer::processSoEvent(ev);
-    }
-
-    //Let all move events trough
-    if (type.isDerivedFrom(SoLocation2Event::getClassTypeId()))
-    {
-        return SoQtExaminerViewer::processSoEvent(event);
-    }
-
-    //YOU SHALL NOT PASS!
-    return TRUE;
-
-    return SoQtExaminerViewer::processSoEvent(event);
-}
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewer.h b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewer.h
deleted file mode 100644
index d5997ec42b5f6273b98ad0d0af733539e16720a5..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewer.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#ifndef __RobotViewer_h__
-#define __RobotViewer_h__
-
-/* Coin headers */
-#include <Inventor/nodes/SoPerspectiveCamera.h>
-#include <Inventor/Qt/viewers/SoQtExaminerViewer.h>
-
-namespace armarx
-{
-    class RobotViewer : public SoQtExaminerViewer
-    {
-    public:
-        RobotViewer(QWidget* widget);
-        ~RobotViewer();
-        SoSeparator* getRootNode();
-        void cameraViewAll();
-    private:
-        virtual SbBool processSoEvent(const SoEvent* const event);
-        SoSeparator* sceneRootNode;
-        SoSeparator* contentRootNode;
-        SoPerspectiveCamera* camera;
-    };
-}
-
-#endif
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.cpp b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.cpp
deleted file mode 100644
index dd925f98f4a0807895ab539909826f1806d43854..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.cpp
+++ /dev/null
@@ -1,33 +0,0 @@
-#include "RobotViewerWidget.h"
-
-#include <QGridLayout>
-
-armarx::RobotViewerWidget::RobotViewerWidget(QWidget* parent) : QWidget(parent)
-{
-    this->setContentsMargins(1, 1, 1, 1);
-
-    QGridLayout* grid = new QGridLayout();
-    grid->setContentsMargins(0, 0, 0, 0);
-    this->setLayout(grid);
-    this->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
-
-    QWidget* view1 = new QWidget(this);
-    view1->setMinimumSize(100, 100);
-    view1->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
-
-    viewer.reset(new RobotViewer(view1));
-    viewer->show();
-
-    grid->addWidget(view1, 0, 0, 1, 2);
-}
-
-
-armarx::RobotViewerWidget::~RobotViewerWidget()
-{
-
-}
-
-RobotViewerPtr armarx::RobotViewerWidget::getRobotViewer()
-{
-    return viewer;
-}
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.h b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.h
deleted file mode 100644
index ccb8d99796aff9e4fb0d060244361d55b7f59152..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.h
+++ /dev/null
@@ -1,45 +0,0 @@
-#ifndef RobotViewerWidget_h
-#define RobotViewerWidget_h
-
-/* Qt headers */
-#include <QWidget>
-
-/* boost headers */
-#include <boost/smart_ptr/shared_ptr.hpp>
-
-#include "RobotViewer.h"
-
-typedef boost::shared_ptr<armarx::RobotViewer> RobotViewerPtr;
-
-namespace armarx
-{
-    class RobotViewerWidget : public QWidget
-    {
-        Q_OBJECT
-
-    public:
-        /**
-        * Constructor.
-        * Constructs a robot viewer widget.
-        * Expects a controller::ControllerPtr.
-        *
-        * @param    control     shared pointer to controller::controller
-        * @param    parent      parent widget
-        *
-        */
-        explicit RobotViewerWidget(QWidget* parent = 0);
-
-        /**
-        * Destructor.
-        *
-        */
-        ~RobotViewerWidget();
-
-        RobotViewerPtr getRobotViewer();
-
-    private:
-        RobotViewerPtr viewer;
-    };
-}
-
-#endif
diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index 76f16c7817f43ef69a4b29d6efb5f200d5726212..34dae6a594d0b94460b795d6119ed70f890fd8a1 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -12,7 +12,7 @@ set(SLICE_FILES
     observers/ObserverFilters.ice
 
     core/PoseBase.ice
-    core/PointWithNormal.ice
+    core/OrientedPoint.ice
     core/LinkedPoseBase.ice
     core/FramedPoseBase.ice
     core/RobotState.ice
diff --git a/source/RobotAPI/interface/core/PointWithNormal.ice b/source/RobotAPI/interface/core/OrientedPoint.ice
similarity index 84%
rename from source/RobotAPI/interface/core/PointWithNormal.ice
rename to source/RobotAPI/interface/core/OrientedPoint.ice
index 46311439bdc97c6b76855ae96367ba69cb1f462e..28bbdfba3b6e4dc4f79d4c2e8d3561c1a3d9f724 100644
--- a/source/RobotAPI/interface/core/PointWithNormal.ice
+++ b/source/RobotAPI/interface/core/OrientedPoint.ice
@@ -31,7 +31,7 @@ module armarx
     /**
     * [PointsWithNormalBase] defines a 3D point with normal.
     */
-    class PointWithNormalBase extends VariantDataClass
+    class OrientedPointBase extends VariantDataClass
     {
         float px = zeroInt;
         float py = zeroInt;
@@ -43,13 +43,13 @@ module armarx
     };
 
     /**
-    * [FramedPointWithNormalBase] defines a PointWithNormal with regard to an agent and a frame within the agent.
-    * If agent is empty and frame is set to armarx::GlobalFrame, PointWithNormal is defined in global frame.
+    * [FramedOrientedPointBase] defines a OrientedPoint with regard to an agent and a frame within the agent.
+    * If agent is empty and frame is set to armarx::GlobalFrame, OrientedPoint is defined in global frame.
     * @param frame Name of frame.
     * @param frame Name of agent.
     */
     ["cpp:virtual"]
-    class FramedPointWithNormalBase extends PointWithNormalBase
+    class FramedOrientedPointBase extends OrientedPointBase
     {
         string frame;
         string agent;
diff --git a/source/RobotAPI/interface/core/RobotState.ice b/source/RobotAPI/interface/core/RobotState.ice
index 11bf27a068da0f89016fc3930632b70fecc37d7f..f6e442055c91d08f40a1fb044b7031e688293d29 100644
--- a/source/RobotAPI/interface/core/RobotState.ice
+++ b/source/RobotAPI/interface/core/RobotState.ice
@@ -181,13 +181,20 @@ module armarx
         idempotent
         StringList getArmarXPackages();
 
-         /**
-          * @return The name of the robot represented by this component. Same as
-          * getSynchronizedRobot()->getName()
-          *
-          */
-        ["cpp:const"]
-        idempotent string getRobotName() throws NotInitializedException;
+        /**
+         * @return The name of the robot represented by this component. Same as
+         * getSynchronizedRobot()->getName()
+         *
+         */
+       ["cpp:const"]
+       idempotent string getRobotName() throws NotInitializedException;
+
+       /**
+        * @return The name of the robot node set that is represented by this component.
+        *
+        */
+      ["cpp:const"]
+      idempotent string getRobotNodeSetName() throws NotInitializedException;
     };
 };
 
diff --git a/source/RobotAPI/interface/units/KinematicUnitInterface.ice b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
index ff0f432537e411f343463a6de9b61aed9a93bedd..9b52ec9daf176918c47fe1b9fe4c977349ffa517 100644
--- a/source/RobotAPI/interface/units/KinematicUnitInterface.ice
+++ b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
@@ -176,7 +176,42 @@ module armarx
          */
         NameControlModeMap getControlModes();
 
-        /*
+        /**
+         * @return the robot xml filename as specified in the configuration
+         */
+        ["cpp:const"]
+        idempotent
+        string getRobotFilename();
+
+        /**
+         * @return All dependent packages, which might contain a robot file.
+         */
+        ["cpp:const"]
+        idempotent
+        StringList getArmarXPackages();
+
+        /**
+         * @return The name of the robot used by this component.
+         *
+         */
+        ["cpp:const"]
+        idempotent string getRobotName() throws NotInitializedException;
+
+        /**
+         * @return The name of the robot node set that is used by this component.
+         *
+         */
+        ["cpp:const"]
+        idempotent string getRobotNodeSetName() throws NotInitializedException;
+
+        /**
+         * @return The name of the report topic that is offered by this unit.
+         *
+         */
+        ["cpp:const"]
+        idempotent string getReportTopicName() throws NotInitializedException;
+
+                /*
          * NYI
          */
         //void set Trajectory(...);
diff --git a/source/RobotAPI/libraries/core/CMakeLists.txt b/source/RobotAPI/libraries/core/CMakeLists.txt
index c2d56b38db79dd9829c81e202607712783625fed..05a4af6d9f1f88c93349ee33c25da9464368053a 100644
--- a/source/RobotAPI/libraries/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/core/CMakeLists.txt
@@ -25,8 +25,8 @@ set(LIB_FILES
     Pose.cpp
     FramedPose.cpp
     LinkedPose.cpp
-    PointWithNormal.cpp
-    FramedPointWithNormal.cpp
+    OrientedPoint.cpp
+    FramedOrientedPoint.cpp
     RobotStatechartContext.cpp
     checks/ConditionCheckMagnitudeChecks.cpp
     observerfilters/PoseMedianOffsetFilter.cpp
@@ -42,8 +42,8 @@ set(LIB_HEADERS
     Pose.h
     FramedPose.h
     LinkedPose.h
-    PointWithNormal.h
-    FramedPointWithNormal.h
+    OrientedPoint.h
+    FramedOrientedPoint.h
     RobotStatechartContext.h
     observerfilters/PoseMedianFilter.h
     observerfilters/PoseMedianOffsetFilter.h
diff --git a/source/RobotAPI/libraries/core/FramedOrientedPoint.cpp b/source/RobotAPI/libraries/core/FramedOrientedPoint.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..411c8ea9717228e633165e5eb1dc3f6e36169f21
--- /dev/null
+++ b/source/RobotAPI/libraries/core/FramedOrientedPoint.cpp
@@ -0,0 +1,188 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
+*
+* ArmarX is distributed in the hope that it will be useful, but
+* WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program. If not, see <http://www.gnu.org/licenses/>.
+*
+* @author     Martin Miller (martin dot miller at student dot kit dot edu)
+* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+*             GNU General Public License
+*/
+
+#include "FramedOrientedPoint.h"
+
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/LinkedCoordinate.h>
+#include <VirtualRobot/LinkedCoordinate.h>
+#include <VirtualRobot/VirtualRobot.h>
+
+#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
+
+using namespace armarx;
+
+
+
+FramedOrientedPoint::FramedOrientedPoint()
+{
+}
+
+FramedOrientedPoint::FramedOrientedPoint(const FramedOrientedPoint& source) :
+    IceUtil::Shared(source),
+    OrientedPointBase(source),
+    FramedOrientedPointBase(source)
+{
+}
+
+FramedOrientedPoint::FramedOrientedPoint(const Eigen::Vector3f& position, const Eigen::Vector3f& normal, const std::string& frame, const std::string& agent) :
+    OrientedPoint(position, normal)
+{
+    this->frame = frame;
+    this->agent = agent;
+
+}
+
+FramedOrientedPoint::FramedOrientedPoint(const OrientedPoint& pointWithNormal, const std::string& frame, const std::string& agent) :
+    FramedOrientedPoint(pointWithNormal.positionToEigen(), pointWithNormal.normalToEigen(), frame, agent)
+{
+}
+
+FramedOrientedPoint::FramedOrientedPoint(Ice::Float px, ::Ice::Float py, ::Ice::Float pz, Ice::Float nx, ::Ice::Float ny, ::Ice::Float nz, const std::string& frame, const std::string& agent) :
+    OrientedPoint(px, py, pz, nx, ny, nz)
+{
+    this->frame = frame;
+    this->agent = agent;
+}
+
+std::string FramedOrientedPoint::getFrame() const
+{
+    return frame;
+}
+
+
+void FramedOrientedPoint::changeFrame(const VirtualRobot::RobotPtr& robot, const std::string& newFrame)
+{
+    FramedPosition  framedPos(positionToEigen(), frame, agent);
+    FramedDirection framedDir(normalToEigen(), frame, agent);
+
+    framedPos.changeFrame(robot, newFrame);
+    framedDir.changeFrame(robot, newFrame);
+    this->px = framedPos.x;
+    this->py = framedPos.y;
+    this->pz = framedPos.z;
+
+    this->nx = framedDir.x;
+    this->ny = framedDir.y;
+    this->nz = framedDir.z;
+}
+
+void FramedOrientedPoint::changeToGlobal(const SharedRobotInterfacePrx& referenceRobot)
+{
+    VirtualRobot::RobotPtr sharedRobot(new RemoteRobot(referenceRobot));
+    changeFrame(sharedRobot, GlobalFrame);
+}
+
+void FramedOrientedPoint::changeToGlobal(const VirtualRobot::RobotPtr& referenceRobot)
+{
+    changeFrame(referenceRobot, GlobalFrame);
+}
+
+Eigen::Vector3f FramedOrientedPoint::positionToGlobalEigen(const SharedRobotInterfacePrx& referenceRobot) const
+{
+    return getFramedPosition().toGlobalEigen(referenceRobot);
+}
+
+Eigen::Vector3f FramedOrientedPoint::normalToGlobalEigen(const SharedRobotInterfacePrx& referenceRobot) const
+{
+    return getFramedNormal().toGlobalEigen(referenceRobot);
+}
+
+Eigen::Vector3f FramedOrientedPoint::positionToGlobalEigen(const VirtualRobot::RobotPtr& referenceRobot) const
+{
+    return getFramedPosition().toGlobalEigen(referenceRobot);
+}
+
+Eigen::Vector3f FramedOrientedPoint::normalToGlobalEigen(const VirtualRobot::RobotPtr& referenceRobot) const
+{
+    return getFramedNormal().toGlobalEigen(referenceRobot);
+}
+
+
+FramedOrientedPointPtr FramedOrientedPoint::toRootFrame(const SharedRobotInterfacePrx& referenceRobot) const
+{
+    return new FramedOrientedPoint(positionToRootEigen(referenceRobot), normalToRootEigen(referenceRobot), frame, agent);
+}
+
+FramedOrientedPointPtr FramedOrientedPoint::toRootFrame(const VirtualRobot::RobotPtr& referenceRobot) const
+{
+    return new FramedOrientedPoint(positionToRootEigen(referenceRobot), normalToRootEigen(referenceRobot), frame, agent);
+}
+
+Eigen::Vector3f FramedOrientedPoint::positionToRootEigen(const SharedRobotInterfacePrx& referenceRobot) const
+{
+    return getFramedPosition().toRootEigen(referenceRobot);
+}
+
+Eigen::Vector3f FramedOrientedPoint::normalToRootEigen(const SharedRobotInterfacePrx& referenceRobot) const
+{
+    return getFramedNormal().toRootEigen(referenceRobot);
+}
+
+Eigen::Vector3f FramedOrientedPoint::positionToRootEigen(const VirtualRobot::RobotPtr& referenceRobot) const
+{
+    return getFramedPosition().toRootEigen(referenceRobot);
+}
+
+Eigen::Vector3f FramedOrientedPoint::normalToRootEigen(const VirtualRobot::RobotPtr& referenceRobot) const
+{
+    return getFramedNormal().toRootEigen(referenceRobot);
+}
+
+FramedPosition FramedOrientedPoint::getFramedPosition() const
+{
+    return FramedPosition(positionToEigen(), frame, agent);
+}
+
+FramedDirection FramedOrientedPoint::getFramedNormal() const
+{
+    return FramedDirection(normalToEigen(), frame, agent);
+}
+
+
+std::string FramedOrientedPoint::output(const Ice::Current& c) const
+{
+    std::stringstream s;
+    s << OrientedPoint::output(c) << std::endl << "frame: " << getFrame() << (agent.empty() ? "" : (" agent: " + agent));
+    return s.str();
+}
+
+
+void FramedOrientedPoint::serialize(const ObjectSerializerBasePtr& serializer, const Ice::Current&) const
+{
+    AbstractObjectSerializerPtr obj = AbstractObjectSerializerPtr::dynamicCast(serializer);
+    OrientedPoint::serialize(serializer);
+    obj->setString("frame", frame);
+    obj->setString("agent", agent);
+
+}
+
+void FramedOrientedPoint::deserialize(const ObjectSerializerBasePtr& serializer, const Ice::Current&)
+{
+    AbstractObjectSerializerPtr obj = AbstractObjectSerializerPtr::dynamicCast(serializer);
+    OrientedPoint::deserialize(serializer);
+    frame = obj->getString("frame");
+
+    if (obj->hasElement("agent"))
+    {
+        agent = obj->getString("agent");
+    }
+}
+
diff --git a/source/RobotAPI/libraries/core/FramedPointWithNormal.h b/source/RobotAPI/libraries/core/FramedOrientedPoint.h
similarity index 65%
rename from source/RobotAPI/libraries/core/FramedPointWithNormal.h
rename to source/RobotAPI/libraries/core/FramedOrientedPoint.h
index a1e60b9b170041f6bc90588da08928acc03b3399..f22149196e3ae8399166c1fac45c6882a27d3bed 100644
--- a/source/RobotAPI/libraries/core/FramedPointWithNormal.h
+++ b/source/RobotAPI/libraries/core/FramedOrientedPoint.h
@@ -18,11 +18,11 @@
 *             GNU General Public License
 */
 
-#ifndef ARMARX_RobotAPI_FramedPointWithNormal_H
-#define ARMARX_RobotAPI_FramedPointWithNormal_H
+#ifndef ARMARX_RobotAPI_FramedOrientedPoint_H
+#define ARMARX_RobotAPI_FramedOrientedPoint_H
 
 
-#include "PointWithNormal.h"
+#include "OrientedPoint.h"
 
 #include <VirtualRobot/Robot.h>
 #include <VirtualRobot/LinkedCoordinate.h>
@@ -37,36 +37,36 @@ namespace armarx
     namespace VariantType
     {
         // variant types
-        const VariantTypeId FramedPointWithNormal = Variant::addTypeName("::armarx::FramedPointWithNormalBase");
+        const VariantTypeId FramedOrientedPoint = Variant::addTypeName("::armarx::FramedOrientedPointBase");
     }
 
-    class FramedPointWithNormal;
-    typedef IceInternal::Handle<FramedPointWithNormal> FramedPointWithNormalPtr;
+    class FramedOrientedPoint;
+    typedef IceInternal::Handle<FramedOrientedPoint> FramedOrientedPointPtr;
 
-    class FramedPointWithNormal :
-        virtual public FramedPointWithNormalBase,
-        virtual public PointWithNormal
+    class FramedOrientedPoint :
+        virtual public FramedOrientedPointBase,
+        virtual public OrientedPoint
     {
     public:
-        FramedPointWithNormal();
-        FramedPointWithNormal(const FramedPointWithNormal& source);
-        FramedPointWithNormal(const Eigen::Vector3f& position, const Eigen::Vector3f& normal, const std::string& frame, const std::string& agent);
-        FramedPointWithNormal(const PointWithNormal& pointWithNormal, const std::string& frame, const std::string& agent);
-        FramedPointWithNormal(Ice::Float px, ::Ice::Float py, ::Ice::Float pz, Ice::Float nx, ::Ice::Float ny, ::Ice::Float nz, const std::string& frame, const std::string& agent);
+        FramedOrientedPoint();
+        FramedOrientedPoint(const FramedOrientedPoint& source);
+        FramedOrientedPoint(const Eigen::Vector3f& position, const Eigen::Vector3f& normal, const std::string& frame, const std::string& agent);
+        FramedOrientedPoint(const OrientedPoint& pointWithNormal, const std::string& frame, const std::string& agent);
+        FramedOrientedPoint(Ice::Float px, ::Ice::Float py, ::Ice::Float pz, Ice::Float nx, ::Ice::Float ny, ::Ice::Float nz, const std::string& frame, const std::string& agent);
 
         std::string getFrame() const;
         void changeFrame(const VirtualRobot::RobotPtr& robot, const std::string& newFrame);
 
         void changeToGlobal(const SharedRobotInterfacePrx& referenceRobot);
         void changeToGlobal(const VirtualRobot::RobotPtr& referenceRobot);
-        FramedPointWithNormalPtr toGlobal(const SharedRobotInterfacePrx& referenceRobot) const;
-        FramedPointWithNormalPtr toGlobal(const VirtualRobot::RobotPtr& referenceRobot) const;
+        FramedOrientedPointPtr toGlobal(const SharedRobotInterfacePrx& referenceRobot) const;
+        FramedOrientedPointPtr toGlobal(const VirtualRobot::RobotPtr& referenceRobot) const;
         Eigen::Vector3f positionToGlobalEigen(const SharedRobotInterfacePrx& referenceRobot) const;
         Eigen::Vector3f normalToGlobalEigen(const SharedRobotInterfacePrx& referenceRobot) const;
         Eigen::Vector3f positionToGlobalEigen(const VirtualRobot::RobotPtr& referenceRobot) const;
         Eigen::Vector3f normalToGlobalEigen(const VirtualRobot::RobotPtr& referenceRobot) const;
-        FramedPointWithNormalPtr toRootFrame(const SharedRobotInterfacePrx& referenceRobot) const;
-        FramedPointWithNormalPtr toRootFrame(const VirtualRobot::RobotPtr& referenceRobot) const;
+        FramedOrientedPointPtr toRootFrame(const SharedRobotInterfacePrx& referenceRobot) const;
+        FramedOrientedPointPtr toRootFrame(const VirtualRobot::RobotPtr& referenceRobot) const;
         Eigen::Vector3f positionToRootEigen(const SharedRobotInterfacePrx& referenceRobot) const;
         Eigen::Vector3f normalToRootEigen(const SharedRobotInterfacePrx& referenceRobot) const;
         Eigen::Vector3f positionToRootEigen(const VirtualRobot::RobotPtr& referenceRobot) const;
@@ -82,21 +82,21 @@ namespace armarx
         }
         VariantDataClassPtr clone(const Ice::Current& c = ::Ice::Current()) const
         {
-            return new FramedPointWithNormal(*this);
+            return new FramedOrientedPoint(*this);
         }
         std::string output(const Ice::Current& c = ::Ice::Current()) const;
         VariantTypeId getType(const Ice::Current& c = ::Ice::Current()) const
         {
-            return VariantType::FramedPointWithNormal;
+            return VariantType::FramedOrientedPoint;
         }
         bool validate(const Ice::Current& c = ::Ice::Current())
         {
             return true;
         }
 
-        friend std::ostream& operator<<(std::ostream& stream, const FramedPointWithNormal& rhs)
+        friend std::ostream& operator<<(std::ostream& stream, const FramedOrientedPoint& rhs)
         {
-            stream << "FramedPointWithNormal: " << std::endl << rhs.output() << std::endl;
+            stream << "FramedOrientedPoint: " << std::endl << rhs.output() << std::endl;
             return stream;
         }
 
@@ -107,4 +107,4 @@ namespace armarx
     };
 }
 
-#endif // armarx_core_FramedPointWithNormal
+#endif // armarx_core_FramedOrientedPoint
diff --git a/source/RobotAPI/libraries/core/FramedPointWithNormal.cpp b/source/RobotAPI/libraries/core/FramedPointWithNormal.cpp
deleted file mode 100644
index 2111d4e8b2e4fd5771c78b5369a1f6216535f4b6..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/core/FramedPointWithNormal.cpp
+++ /dev/null
@@ -1,189 +0,0 @@
-/*
-* This file is part of ArmarX.
-*
-* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License version 2 as
-* published by the Free Software Foundation.
-*
-* ArmarX is distributed in the hope that it will be useful, but
-* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program. If not, see <http://www.gnu.org/licenses/>.
-*
-* @author     Martin Miller (martin dot miller at student dot kit dot edu)
-* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
-*             GNU General Public License
-*/
-
-#include "FramedPointWithNormal.h"
-
-#include <VirtualRobot/Robot.h>
-#include <VirtualRobot/LinkedCoordinate.h>
-#include <VirtualRobot/LinkedCoordinate.h>
-#include <VirtualRobot/VirtualRobot.h>
-
-#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
-
-using namespace armarx;
-
-
-
-FramedPointWithNormal::FramedPointWithNormal()
-{
-}
-
-FramedPointWithNormal::FramedPointWithNormal(const FramedPointWithNormal& source) :
-    IceUtil::Shared(source),
-    PointWithNormalBase(source),
-    FramedPointWithNormalBase(source),
-    armarx::PointWithNormal(source)
-{
-}
-
-FramedPointWithNormal::FramedPointWithNormal(const Eigen::Vector3f& position, const Eigen::Vector3f& normal, const std::string& frame, const std::string& agent) :
-    PointWithNormal(position, normal)
-{
-    this->frame = frame;
-    this->agent = agent;
-
-}
-
-FramedPointWithNormal::FramedPointWithNormal(const PointWithNormal& pointWithNormal, const std::string& frame, const std::string& agent) :
-    FramedPointWithNormal(pointWithNormal.positionToEigen(), pointWithNormal.normalToEigen(), frame, agent)
-{
-}
-
-FramedPointWithNormal::FramedPointWithNormal(Ice::Float px, ::Ice::Float py, ::Ice::Float pz, Ice::Float nx, ::Ice::Float ny, ::Ice::Float nz, const std::string& frame, const std::string& agent) :
-    PointWithNormal(px, py, pz, nx, ny, nz)
-{
-    this->frame = frame;
-    this->agent = agent;
-}
-
-std::string FramedPointWithNormal::getFrame() const
-{
-    return frame;
-}
-
-
-void FramedPointWithNormal::changeFrame(const VirtualRobot::RobotPtr& robot, const std::string& newFrame)
-{
-    FramedPosition  framedPos(positionToEigen(), frame, agent);
-    FramedDirection framedDir(normalToEigen(), frame, agent);
-
-    framedPos.changeFrame(robot, newFrame);
-    framedDir.changeFrame(robot, newFrame);
-    this->px = framedPos.x;
-    this->py = framedPos.y;
-    this->pz = framedPos.z;
-
-    this->nx = framedDir.x;
-    this->ny = framedDir.y;
-    this->nz = framedDir.z;
-}
-
-void FramedPointWithNormal::changeToGlobal(const SharedRobotInterfacePrx& referenceRobot)
-{
-    VirtualRobot::RobotPtr sharedRobot(new RemoteRobot(referenceRobot));
-    changeFrame(sharedRobot, GlobalFrame);
-}
-
-void FramedPointWithNormal::changeToGlobal(const VirtualRobot::RobotPtr& referenceRobot)
-{
-    changeFrame(referenceRobot, GlobalFrame);
-}
-
-Eigen::Vector3f FramedPointWithNormal::positionToGlobalEigen(const SharedRobotInterfacePrx& referenceRobot) const
-{
-    return getFramedPosition().toGlobalEigen(referenceRobot);
-}
-
-Eigen::Vector3f FramedPointWithNormal::normalToGlobalEigen(const SharedRobotInterfacePrx& referenceRobot) const
-{
-    return getFramedNormal().toGlobalEigen(referenceRobot);
-}
-
-Eigen::Vector3f FramedPointWithNormal::positionToGlobalEigen(const VirtualRobot::RobotPtr& referenceRobot) const
-{
-    return getFramedPosition().toGlobalEigen(referenceRobot);
-}
-
-Eigen::Vector3f FramedPointWithNormal::normalToGlobalEigen(const VirtualRobot::RobotPtr& referenceRobot) const
-{
-    return getFramedNormal().toGlobalEigen(referenceRobot);
-}
-
-
-FramedPointWithNormalPtr FramedPointWithNormal::toRootFrame(const SharedRobotInterfacePrx& referenceRobot) const
-{
-    return new FramedPointWithNormal(positionToRootEigen(referenceRobot), normalToRootEigen(referenceRobot), frame, agent);
-}
-
-FramedPointWithNormalPtr FramedPointWithNormal::toRootFrame(const VirtualRobot::RobotPtr& referenceRobot) const
-{
-    return new FramedPointWithNormal(positionToRootEigen(referenceRobot), normalToRootEigen(referenceRobot), frame, agent);
-}
-
-Eigen::Vector3f FramedPointWithNormal::positionToRootEigen(const SharedRobotInterfacePrx& referenceRobot) const
-{
-    return getFramedPosition().toRootEigen(referenceRobot);
-}
-
-Eigen::Vector3f FramedPointWithNormal::normalToRootEigen(const SharedRobotInterfacePrx& referenceRobot) const
-{
-    return getFramedNormal().toRootEigen(referenceRobot);
-}
-
-Eigen::Vector3f FramedPointWithNormal::positionToRootEigen(const VirtualRobot::RobotPtr& referenceRobot) const
-{
-    return getFramedPosition().toRootEigen(referenceRobot);
-}
-
-Eigen::Vector3f FramedPointWithNormal::normalToRootEigen(const VirtualRobot::RobotPtr& referenceRobot) const
-{
-    return getFramedNormal().toRootEigen(referenceRobot);
-}
-
-FramedPosition FramedPointWithNormal::getFramedPosition() const
-{
-    return FramedPosition(positionToEigen(), frame, agent);
-}
-
-FramedDirection FramedPointWithNormal::getFramedNormal() const
-{
-    return FramedDirection(normalToEigen(), frame, agent);
-}
-
-
-std::string FramedPointWithNormal::output(const Ice::Current& c) const
-{
-    std::stringstream s;
-    s << PointWithNormal::output(c) << std::endl << "frame: " << getFrame() << (agent.empty() ? "" : (" agent: " + agent));
-    return s.str();
-}
-
-
-void FramedPointWithNormal::serialize(const ObjectSerializerBasePtr& serializer, const Ice::Current&) const
-{
-    AbstractObjectSerializerPtr obj = AbstractObjectSerializerPtr::dynamicCast(serializer);
-    PointWithNormal::serialize(serializer);
-    obj->setString("frame", frame);
-    obj->setString("agent", agent);
-
-}
-
-void FramedPointWithNormal::deserialize(const ObjectSerializerBasePtr& serializer, const Ice::Current&)
-{
-    AbstractObjectSerializerPtr obj = AbstractObjectSerializerPtr::dynamicCast(serializer);
-    PointWithNormal::deserialize(serializer);
-    frame = obj->getString("frame");
-
-    if (obj->hasElement("agent"))
-    {
-        agent = obj->getString("agent");
-    }
-}
-
diff --git a/source/RobotAPI/libraries/core/PointWithNormal.cpp b/source/RobotAPI/libraries/core/OrientedPoint.cpp
similarity index 76%
rename from source/RobotAPI/libraries/core/PointWithNormal.cpp
rename to source/RobotAPI/libraries/core/OrientedPoint.cpp
index c72a02eca8d29dff15f3b30d4712c8bf8b8550b4..7d4654a44dbc1ea7bcc9179ff5e611ff4e02934d 100644
--- a/source/RobotAPI/libraries/core/PointWithNormal.cpp
+++ b/source/RobotAPI/libraries/core/OrientedPoint.cpp
@@ -18,12 +18,12 @@
 *             GNU General Public License
 */
 
-#include "PointWithNormal.h"
+#include "OrientedPoint.h"
 
 using namespace armarx;
 using namespace Eigen;
 
-PointWithNormal::PointWithNormal()
+OrientedPoint::OrientedPoint()
 {
     px = 0;
     py = 0;
@@ -34,7 +34,7 @@ PointWithNormal::PointWithNormal()
     nz = 0;
 }
 
-PointWithNormal::PointWithNormal(const Vector3f& position, const Vector3f& normal)
+OrientedPoint::OrientedPoint(const Vector3f& position, const Vector3f& normal)
 {
     px = position(0);
     py = position(1);
@@ -46,7 +46,7 @@ PointWithNormal::PointWithNormal(const Vector3f& position, const Vector3f& norma
 }
 
 
-PointWithNormal::PointWithNormal(::Ice::Float px, ::Ice::Float py, ::Ice::Float pz, ::Ice::Float nx, ::Ice::Float ny, ::Ice::Float nz)
+OrientedPoint::OrientedPoint(::Ice::Float px, ::Ice::Float py, ::Ice::Float pz, ::Ice::Float nx, ::Ice::Float ny, ::Ice::Float nz)
 {
     this->px = px;
     this->py = py;
@@ -57,14 +57,14 @@ PointWithNormal::PointWithNormal(::Ice::Float px, ::Ice::Float py, ::Ice::Float
     this->nz = nz;
 }
 
-Vector3f PointWithNormal::positionToEigen() const
+Vector3f OrientedPoint::positionToEigen() const
 {
     Vector3f p;
     p << this->px, this->py, this->pz;
     return p;
 }
 
-Vector3f PointWithNormal::normalToEigen() const
+Vector3f OrientedPoint::normalToEigen() const
 {
     Vector3f n;
     n << this->nx, this->ny, this->nz;
@@ -72,7 +72,7 @@ Vector3f PointWithNormal::normalToEigen() const
 }
 
 
-std::string PointWithNormal::output(const Ice::Current& c) const
+std::string OrientedPoint::output(const Ice::Current& c) const
 {
     Eigen::IOFormat vecfmt(Eigen::FullPrecision, 0, "", ", ", "", "", "(", ")");
     std::stringstream s;
@@ -80,7 +80,7 @@ std::string PointWithNormal::output(const Ice::Current& c) const
     return s.str();
 }
 
-void PointWithNormal::serialize(const ObjectSerializerBasePtr& serializer, const ::Ice::Current&) const
+void OrientedPoint::serialize(const ObjectSerializerBasePtr& serializer, const ::Ice::Current&) const
 {
     AbstractObjectSerializerPtr obj = AbstractObjectSerializerPtr::dynamicCast(serializer);
 
@@ -93,7 +93,7 @@ void PointWithNormal::serialize(const ObjectSerializerBasePtr& serializer, const
     obj->setFloat("nz", nz);
 }
 
-void PointWithNormal::deserialize(const ObjectSerializerBasePtr& serializer, const ::Ice::Current& c)
+void OrientedPoint::deserialize(const ObjectSerializerBasePtr& serializer, const ::Ice::Current& c)
 {
     AbstractObjectSerializerPtr obj = AbstractObjectSerializerPtr::dynamicCast(serializer);
 
diff --git a/source/RobotAPI/libraries/core/PointWithNormal.h b/source/RobotAPI/libraries/core/OrientedPoint.h
similarity index 72%
rename from source/RobotAPI/libraries/core/PointWithNormal.h
rename to source/RobotAPI/libraries/core/OrientedPoint.h
index f295e69f65f55b85f7ef5787ff054b9c92695880..facef186ba63bc04a06b081a415fe74a15ed20a3 100644
--- a/source/RobotAPI/libraries/core/PointWithNormal.h
+++ b/source/RobotAPI/libraries/core/OrientedPoint.h
@@ -18,11 +18,11 @@
 *             GNU General Public License
 */
 
-#ifndef ARMARX_RobotAPI_PointWithNormal_H
-#define ARMARX_RobotAPI_PointWithNormal_H
+#ifndef ARMARX_RobotAPI_OrientedPoint_H
+#define ARMARX_RobotAPI_OrientedPoint_H
 
 
-#include <RobotAPI/interface/core/PointWithNormal.h>
+#include <RobotAPI/interface/core/OrientedPoint.h>
 #include <ArmarXCore/observers/variant/Variant.h>
 #include <ArmarXCore/observers/AbstractObjectSerializer.h>
 
@@ -36,17 +36,17 @@ namespace armarx
     namespace VariantType
     {
         // variant types
-        const VariantTypeId PointWithNormal = Variant::addTypeName("::armarx::PointWithNormalBase");
+        const VariantTypeId OrientedPoint = Variant::addTypeName("::armarx::OrientedPointBase");
     }
 
-    class PointWithNormal:
-        public virtual PointWithNormalBase
+    class OrientedPoint:
+        public virtual OrientedPointBase
     {
 
     public:
-        PointWithNormal();
-        PointWithNormal(const Eigen::Vector3f& position, const Eigen::Vector3f& normal);
-        PointWithNormal(::Ice::Float px, ::Ice::Float py, ::Ice::Float pz, ::Ice::Float nx, ::Ice::Float ny, ::Ice::Float nz);
+        OrientedPoint();
+        OrientedPoint(const Eigen::Vector3f& position, const Eigen::Vector3f& normal);
+        OrientedPoint(::Ice::Float px, ::Ice::Float py, ::Ice::Float pz, ::Ice::Float nx, ::Ice::Float ny, ::Ice::Float nz);
 
         virtual Eigen::Vector3f positionToEigen() const;
         virtual Eigen::Vector3f normalToEigen() const;
@@ -58,21 +58,21 @@ namespace armarx
         }
         VariantDataClassPtr clone(const Ice::Current& c = ::Ice::Current()) const
         {
-            return new PointWithNormal(*this);
+            return new OrientedPoint(*this);
         }
         std::string output(const Ice::Current& c = ::Ice::Current()) const;
         VariantTypeId getType(const Ice::Current& c = ::Ice::Current()) const
         {
-            return VariantType::PointWithNormal;
+            return VariantType::OrientedPoint;
         }
         bool validate(const Ice::Current& c = ::Ice::Current())
         {
             return true;
         }
 
-        friend std::ostream& operator<<(std::ostream& stream, const PointWithNormal& rhs)
+        friend std::ostream& operator<<(std::ostream& stream, const OrientedPoint& rhs)
         {
-            stream << "PointWithNormal: " << std::endl << rhs.output() << std::endl;
+            stream << "OrientedPoint: " << std::endl << rhs.output() << std::endl;
             return stream;
         }
 
@@ -82,4 +82,4 @@ namespace armarx
     };
 }
 
-#endif // armarx_core_PointWithNormal
+#endif // armarx_core_OrientedPoint
diff --git a/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h b/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h
index cfcbe2d9e761e3d0816a99e66fb6a449ef172f76..81ff0980712a4ffe79d12c7b2a4d0a91cdcd7a17 100644
--- a/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h
+++ b/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h
@@ -33,6 +33,8 @@
 #include <RobotAPI/libraries/core/observerfilters/OffsetFilter.h>
 #include <RobotAPI/libraries/core/observerfilters/MatrixFilters.h>
 #include <RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.h>
+#include <RobotAPI/libraries/core/OrientedPoint.h>
+#include <RobotAPI/libraries/core/FramedOrientedPoint.h>
 
 namespace armarx
 {
@@ -169,6 +171,9 @@ namespace armarx
                 map.insert(std::make_pair(armarx::FramedPositionBase::ice_staticId(), new FramedPositionObjectFactory));
                 map.insert(std::make_pair(armarx::LinkedPoseBase::ice_staticId(), new LinkedPoseObjectFactory));
 
+                add<armarx::OrientedPointBase, armarx::OrientedPoint>(map);
+                add<armarx::FramedOrientedPointBase, armarx::FramedOrientedPoint>(map);
+
                 add<armarx::PoseMedianFilterBase, armarx::filters::PoseMedianFilter>(map);
                 add<armarx::PoseMedianOffsetFilterBase, armarx::filters::PoseMedianOffsetFilter>(map);
                 add<armarx::OffsetFilterBase, armarx::filters::OffsetFilter>(map);