diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/elbow_l.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/elbow_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..14d7a3efdb163d7566d5d671998a87a6d0c7050d
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/elbow_l.wrl
@@ -0,0 +1,31 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ rotation -0.99999994 -0 -0 1.5700002
+
+ }
+ Transform {
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Transform {
+ rotation 0 1 0 3.1400001
+
+ }
+ Transform {
+ translation 7.5 0 0
+ rotation 0 0 1 0
+
+ }
+ File {
+ name "armar/left_arm/elbow_link_l_conv.wrl"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/elbow_r.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/elbow_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..d546e0e6efa0af923b76ca23adc54d4575e4a120
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/elbow_r.wrl
@@ -0,0 +1,26 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ rotation 0.99999994 0 0 1.5700002
+
+ }
+ Transform {
+ rotation 0 0 0.99999994 1.5700002
+
+ }
+ Transform {
+ translation 7.5 0 0
+
+ }
+ File {
+ name "armar/right_arm/elbow_link_r_conv.wrl"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/eye_l.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/eye_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a8bd948067369d3a3e820386db02ca4388fbc22d
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/eye_l.wrl
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Transform {
+ rotation 0 0.99999994 0 1.5700002
+
+ }
+ Transform {
+ rotation 0 0 0.99999994 1.5700002
+
+ }
+ File {
+ name "armar/eyes/eye.iv"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/eye_link_l.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/eye_link_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..213c5846cbf9fa587566630ad865aab0a9d98a69
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/eye_link_l.wrl
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Transform {
+ rotation 0 0.99999994 0 1.5700002
+
+ }
+ Transform {
+ rotation 0.99999994 0 0 1.5700002
+
+ }
+ File {
+ name "armar/eyes/eyes_pitch_link_left.iv"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/eye_link_r.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/eye_link_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..89e064ec6ba8b6ee71b8385ac55a404ff3ef3a13
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/eye_link_r.wrl
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Transform {
+ rotation 0 0.99999994 0 1.5700002
+
+ }
+ Transform {
+ rotation 0.99999994 0 0 1.5700002
+
+ }
+ File {
+ name "armar/eyes/eyes_pitch_link_right.iv"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/eye_r.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/eye_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a8bd948067369d3a3e820386db02ca4388fbc22d
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/eye_r.wrl
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Transform {
+ rotation 0 0.99999994 0 1.5700002
+
+ }
+ Transform {
+ rotation 0 0 0.99999994 1.5700002
+
+ }
+ File {
+ name "armar/eyes/eye.iv"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/head.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/head.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..42878b9e4f20d6a2f6a299f4b89894149c748ad9
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/head.wrl
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ rotation 0 0.99999994 0 1.5700002
+
+ }
+ File {
+ name "armar/head/head_conv.wrl"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/index_l1.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/index_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..dba736ea916914e36796ad446b52bf156e14ce03
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/index_l1.wrl
@@ -0,0 +1,27 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0.99999994 0 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/metacarpals_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/index_l2.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/index_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..5c3cd4f92bf4baa707ec2616bb3da16df5d22b1a
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/index_l2.wrl
@@ -0,0 +1,27 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0.99999994 0 0 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/proximal_index_middle_thumb_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/index_r1.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/index_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..dba736ea916914e36796ad446b52bf156e14ce03
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/index_r1.wrl
@@ -0,0 +1,27 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0.99999994 0 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/metacarpals_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/index_r2.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/index_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..5c3cd4f92bf4baa707ec2616bb3da16df5d22b1a
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/index_r2.wrl
@@ -0,0 +1,27 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0.99999994 0 0 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/proximal_index_middle_thumb_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/jaw.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/jaw.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..0769dcae0cb159b11e8937403730d3eddec77dd7
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/jaw.wrl
@@ -0,0 +1,23 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 10 0
+ rotation 0 0 0.99999994 1.5700002
+
+ }
+ Transform {
+ rotation -0 -0.99999994 -0 1.5700002
+
+ }
+ File {
+ name "armar/head/jaw.iv"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/middle_l1.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/middle_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..dba736ea916914e36796ad446b52bf156e14ce03
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/middle_l1.wrl
@@ -0,0 +1,27 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0.99999994 0 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/metacarpals_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/middle_l2.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/middle_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..5c3cd4f92bf4baa707ec2616bb3da16df5d22b1a
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/middle_l2.wrl
@@ -0,0 +1,27 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0.99999994 0 0 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/proximal_index_middle_thumb_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/middle_r1.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/middle_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..dba736ea916914e36796ad446b52bf156e14ce03
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/middle_r1.wrl
@@ -0,0 +1,27 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0.99999994 0 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/metacarpals_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/middle_r2.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/middle_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..5c3cd4f92bf4baa707ec2616bb3da16df5d22b1a
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/middle_r2.wrl
@@ -0,0 +1,27 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0.99999994 0 0 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/proximal_index_middle_thumb_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/neck_pitch_link.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/neck_pitch_link.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..1f4e79ff3b0881dab8fbce5fd9fa789a4428ca26
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/neck_pitch_link.wrl
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Transform {
+ rotation -0.99999994 -0 -0 1.5700002
+
+ }
+ File {
+ name "armar/neck/neck_pitch_link_conv.wrl"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/neck_roll_link.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/neck_roll_link.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..57056b3f15df228c67839f57f5e6ff14c3578200
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/neck_roll_link.wrl
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Transform {
+ rotation -0 -0.99999994 -0 1.5700002
+
+ }
+ File {
+ name "armar/neck/neck_yaw_link_conv.wrl"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/neck_yaw_link.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/neck_yaw_link.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..4081e6de48f855b13c7465c6ab6154ebd5408bf9
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/neck_yaw_link.wrl
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ rotation 0 1 0 3.1400001
+
+ }
+ Transform {
+ rotation 0 0 0.99999994 1.5700002
+
+ }
+ File {
+ name "armar/neck/neck_roll_link_conv.wrl"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/palm1_l.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/palm1_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..349c4b61e8d583434509929c76f39ea25d03b0c5
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/palm1_l.wrl
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 -0.99999994 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/palm1_l_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/palm1_r.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/palm1_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..07cd5ff5871de3a56d03b0c549961629bcc45385
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/palm1_r.wrl
@@ -0,0 +1,27 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 -0.99999994 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 3.1415
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/palm1_r_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/palm2_l.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/palm2_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..77203e4089fae3aca7bea7d077fe952502ba8556
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/palm2_l.wrl
@@ -0,0 +1,26 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 -0.99999994 1.5700002
+
+ }
+ Transform {
+ rotation 0 0.99999994 0 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/palm2_l_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/palm2_r.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/palm2_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..356f4967eeb81901b5671e06283ae962661aacba
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/palm2_r.wrl
@@ -0,0 +1,26 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 -0.99999994 1.5700002
+
+ }
+ Transform {
+ rotation -0 -0.99999994 -0 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/palm2_r_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/pinky_l1.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/pinky_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..dba736ea916914e36796ad446b52bf156e14ce03
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/pinky_l1.wrl
@@ -0,0 +1,27 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0.99999994 0 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/metacarpals_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/pinky_l2.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/pinky_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..1791059c92085a68a96847c3d3b823c4ae427c0a
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/pinky_l2.wrl
@@ -0,0 +1,27 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0.99999994 0 0 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/proximal_pinky_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/pinky_r1.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/pinky_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..dba736ea916914e36796ad446b52bf156e14ce03
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/pinky_r1.wrl
@@ -0,0 +1,27 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0.99999994 0 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/metacarpals_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/pinky_r2.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/pinky_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..1791059c92085a68a96847c3d3b823c4ae427c0a
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/pinky_r2.wrl
@@ -0,0 +1,27 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0.99999994 0 0 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/proximal_pinky_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/platform.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/platform.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..38e2170ccc73227cc8c23e58dd9f135883a9127b
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/platform.wrl
@@ -0,0 +1,24 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ RotationXYZ {
+ angle 1.5700001
+ axis X
+
+ }
+ RotationXYZ {
+ angle -1.5700001
+ axis Z
+
+ }
+ File {
+ name "armar/platform/platform_conv.wrl"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/platform_pitch_link.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/platform_pitch_link.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..7c84db749ec30fa9259b7396a284633a88f79704
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/platform_pitch_link.wrl
@@ -0,0 +1,19 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ RotationXYZ {
+ angle 1.5700001
+ axis Z
+
+ }
+ File {
+ name "armar/platform/hd_platform_pitch_link_conv.wrl"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/platform_roll_link.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/platform_roll_link.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..2d59dfd07efa59eb45cadfb54655a4f8b1c34405
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/platform_roll_link.wrl
@@ -0,0 +1,31 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ RotationXYZ {
+ angle 1.5700001
+ axis Z
+
+ }
+ Transform {
+ translation 0 0 127
+
+ }
+ Transform {
+ rotation 0 1 0 3.1415
+
+ }
+ Transform {
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ File {
+ name "armar/platform/hd_platform_roll_link_conv.wrl"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/ring_l1.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/ring_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..dba736ea916914e36796ad446b52bf156e14ce03
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/ring_l1.wrl
@@ -0,0 +1,27 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0.99999994 0 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/metacarpals_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/ring_l2.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/ring_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..7d9c5e34ba513a21a2b9d3acb191e81f7e5e4336
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/ring_l2.wrl
@@ -0,0 +1,27 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0.99999994 0 0 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/proximal_ring_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/ring_r1.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/ring_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..dba736ea916914e36796ad446b52bf156e14ce03
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/ring_r1.wrl
@@ -0,0 +1,27 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0.99999994 0 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/metacarpals_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/ring_r2.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/ring_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..7d9c5e34ba513a21a2b9d3acb191e81f7e5e4336
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/ring_r2.wrl
@@ -0,0 +1,27 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0.99999994 0 0 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/proximal_ring_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/shoulder2_l_rot.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/shoulder2_l_rot.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..630075c9b2d5deef3d65d4d3bb13f0959e44c26c
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/shoulder2_l_rot.wrl
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ rotation 0 0 0.99999994 1.5700002
+
+ }
+ Transform {
+ rotation 0 0 0.99999994 1.5700002
+
+ }
+ File {
+ name "armar/left_arm/shoulder_link_l_conv.wrl"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/shoulder2_r_rot.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/shoulder2_r_rot.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..5e7bfe195ad48facba09b33ba880778e83aa8b80
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/shoulder2_r_rot.wrl
@@ -0,0 +1,29 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 3.1400001
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 0.99999994 1.5700002
+
+ }
+ File {
+ name "armar/right_arm/shoulder_link_r_conv.wrl"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/shoulder_l.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/shoulder_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..982c670ed71907fbcddcf1557360f948bc67dae6
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/shoulder_l.wrl
@@ -0,0 +1,26 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ rotation -0 -0 -0.99999994 1.5700002
+
+ }
+ Transform {
+ translation 0 0 -110
+
+ }
+ Transform {
+ rotation -0 -0.99999994 -0 1.5700002
+
+ }
+ File {
+ name "armar/left_arm/shoulder_l_conv.wrl"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/shoulder_r.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/shoulder_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..9b0d156399173c59f0fe7eb13ce2da6735cdbb13
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/shoulder_r.wrl
@@ -0,0 +1,26 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ rotation 0 0 0.99999994 1.5700002
+
+ }
+ Transform {
+ rotation 0 1 0 3.1400001
+
+ }
+ Transform {
+ translation 0 0 -110
+
+ }
+ File {
+ name "armar/right_arm/shoulder_r_conv.wrl"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/thumb_l1.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/thumb_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..6e9232784f0acbfe596ed96a200acd7faf518542
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/thumb_l1.wrl
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0.99999994 -0 -0 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/metacarpals_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/thumb_l2.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/thumb_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..31b57c44b292906c8b060a2a643e79808ee68216
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/thumb_l2.wrl
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0.99999994 -0 -0 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/proximal_index_middle_thumb_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/thumb_r1.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/thumb_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..6e9232784f0acbfe596ed96a200acd7faf518542
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/thumb_r1.wrl
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0.99999994 -0 -0 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/metacarpals_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/thumb_r2.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/thumb_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..31b57c44b292906c8b060a2a643e79808ee68216
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/thumb_r2.wrl
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0.99999994 -0 -0 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/proximal_index_middle_thumb_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/torso.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/torso.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..b9585aed5aca8a7ca1338369e5cba493321f4979
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/torso.wrl
@@ -0,0 +1,19 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ RotationXYZ {
+ angle 1.5700001
+ axis Z
+
+ }
+ File {
+ name "armar/torso/torso_conv.wrl"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/underarm_l.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/underarm_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..94d9ea0ab2afc382de53f017d3a7a401f6c8930a
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/underarm_l.wrl
@@ -0,0 +1,29 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 -46.5
+ rotation 0 0 1 0
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 3.1400001
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 0.99999994 1.5700002
+
+ }
+ File {
+ name "armar/left_arm/underarm_l_conv.wrl"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/underarm_r.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/underarm_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..eef82c8651255f07aa9a43047470e9ef7201277b
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/underarm_r.wrl
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 -46.5
+
+ }
+ Transform {
+ rotation 0 0 0.99999994 1.5700002
+
+ }
+ File {
+ name "armar/right_arm/underarm_r_conv.wrl"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/upperarm_l.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/upperarm_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..d856e994120f2af65feae6ecfcf0a3c3742759cf
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/upperarm_l.wrl
@@ -0,0 +1,23 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation -0 -0.99999994 -0 1.5700002
+
+ }
+ Transform {
+ translation -25.299999 0 0
+
+ }
+ File {
+ name "armar/left_arm/upperarm_l_conv.wrl"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/upperarm_r.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/upperarm_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..fd34432c705c2ac219d8b7d39056155458a01196
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/upperarm_r.wrl
@@ -0,0 +1,26 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ rotation -0 -0.99999994 -0 1.5700002
+
+ }
+ Transform {
+ rotation 1 0 0 3.1400001
+
+ }
+ Transform {
+ translation -25.299999 0 0
+
+ }
+ File {
+ name "armar/right_arm/upperarm_r_conv.wrl"
+
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/wrist1_l.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/wrist1_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..cc22f093c7aa4afd2ac75d984d50cb7658577f52
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/wrist1_l.wrl
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0.99999994 0 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/handlink_red_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/wrist1_r.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/wrist1_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..8f82387f6d7d93915ce0c6dd1da4e80d04bccbff
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/wrist1_r.wrl
@@ -0,0 +1,29 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ rotation 0.99999994 0 0 1.5700002
+
+ }
+ Transform {
+ rotation 0 0 0.99999994 1.5700002
+
+ }
+ Transform {
+ rotation 0.99999994 0 0 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/handlink_red_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/wrist2_l.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/wrist2_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..7160b8ca793b2af797061c609c65910b8aa8e540
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/wrist2_l.wrl
@@ -0,0 +1,32 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 0.99999994 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0.99999994 0 0 1.5700002
+
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0.99999994 0 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/handlink_green_conv.wrl"
+
+ }
+ }
+}
diff --git a/VirtualRobot/data/robots/ArmarIII/convexModel/wrist2_r.wrl b/VirtualRobot/data/robots/ArmarIII/convexModel/wrist2_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..94c8414d498c17cfe29582165cf83f271336db36
--- /dev/null
+++ b/VirtualRobot/data/robots/ArmarIII/convexModel/wrist2_r.wrl
@@ -0,0 +1,29 @@
+#Inventor V2.1 ascii
+
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+
+ }
+ Transform {
+ rotation 0 0.99999994 0 1.5700002
+
+ }
+ Transform {
+ rotation 0 0 0.99999994 1.5700002
+
+ }
+ Transform {
+ rotation 0 0.99999994 0 1.5700002
+
+ }
+ Separator {
+
+ File {
+ name "armar/hands/handlink_green_conv.wrl"
+
+ }
+ }
+}