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
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/index_r2.iv b/data/RobotAPI/robots/Armar3b/collisionModel/index_r2.iv
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--- /dev/null
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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
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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
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--- /dev/null
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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
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/middle_r2.iv b/data/RobotAPI/robots/Armar3b/collisionModel/middle_r2.iv
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--- /dev/null
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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
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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
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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
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@@ -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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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 @@
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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
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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
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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
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--- /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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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/thumb_l1.iv b/data/RobotAPI/robots/Armar3b/collisionModel/thumb_l1.iv
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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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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/torso.iv b/data/RobotAPI/robots/Armar3b/collisionModel/torso.iv
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--- /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
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/upperarm_l.iv b/data/RobotAPI/robots/Armar3b/collisionModel/upperarm_l.iv
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diff --git a/data/RobotAPI/robots/Armar3b/collisionModel/upperarm_r.iv b/data/RobotAPI/robots/Armar3b/collisionModel/upperarm_r.iv
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--- /dev/null
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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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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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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
+
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+
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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
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+NavigationInfo {
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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
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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 {
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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
+
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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
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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 {
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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 {
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+}
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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
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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" ]
+}
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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" ]
+}
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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
+
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+}
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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
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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
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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
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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 {
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+}
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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 {
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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
+
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+}
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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
+
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+}
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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
+
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+
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+}
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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 @@
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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 @@
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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
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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
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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
+
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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
+
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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 {
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+}
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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
+
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+}
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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 {
+ Normal {
+ vector [ -4.92384e-14 2.37421e-14 -1,
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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
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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
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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
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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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new file mode 100644
index 0000000000000000000000000000000000000000..46ee278564f281a7fdd15d80bd92a4a13080d868
--- /dev/null
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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
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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
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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
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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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--- /dev/null
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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 @@
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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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+ ]
+ }
+ 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
+ }
+ }
+ ]
+}