diff --git a/VirtualRobot/data/robots/Schunk_SAH/SAH_RightHand.xml b/VirtualRobot/data/robots/Schunk_SAH/SAH_RightHand.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ecb17f346da373e441f303ca44da57817b179825
--- /dev/null
+++ b/VirtualRobot/data/robots/Schunk_SAH/SAH_RightHand.xml
@@ -0,0 +1,697 @@
+<Robot Type="SAHandRight" RootNode="Right Hand Start">
+
+<RobotNode name="Right Hand Start">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+	<rollpitchyaw roll="0" pitch="0" yaw="0" units="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <CoordinateAxis type="Inventor" enable="false" scaling="1" text="Right Hand Start"/>
+  </Visualization>
+  <Child name="Right Hand Init"/>
+</RobotNode>
+
+<RobotNode name="Right Hand Init">
+  <Child name="Right Hand Palm"/>
+  <Child name="Right Arm TCP"/>
+  <Child name="Right Arm GCP"/>
+</RobotNode>
+
+<RobotNode name="Right Arm TCP">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+	<Translation x="100" y="22" z="180"/>
+	<rollpitchyaw roll="0" pitch="30" yaw="0" units="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <CoordinateAxis type="Inventor" enable="false" scaling="1"/>
+  </Visualization>
+</RobotNode>
+
+<RobotNode name="Right Arm GCP">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+	<Translation x="100" y="22" z="180"/>
+	<rollpitchyaw roll="0" pitch="30" yaw="0" units="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <CoordinateAxis type="Inventor" enable="false" scaling="1"/>
+  </Visualization>
+</RobotNode>
+
+<RobotNode name="Right Hand Palm"> 
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="-0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <File type="Inventor">model/palmRight2.wrl</File>
+  </Visualization>
+  <CollisionModel boundingbox="false">
+    <File type="Inventor">model/palmRight2CD.wrl</File>
+  </CollisionModel>
+  <Child name="thumbPalmJoint"/>
+  <Child name="forefinger.baseJoint"/>
+  <Child name="middlefinger.baseJoint"/>
+  <Child name="ringfinger.baseJoint"/>
+</RobotNode>
+
+<RobotNode name="thumbPalmJoint">
+  <Joint type="revolute">
+  <Axis x="0" y="0" z="1"/>
+  <Limits unit="degree" lo="90" hi="90"/>
+    <PreJointTransform>
+      <Transform>
+        <Translation x="-3" y="27.1" z="0"/>
+        <rollpitchyaw roll="-180" pitch="-0" yaw="180" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Child name="thumb.baseJoint"/>
+  <Child name="thumbBase"/>
+</RobotNode>
+
+<RobotNode name="thumb.baseJoint">
+  <Joint type="revolute">
+  <Axis x="0" y="0" z="1"/>
+  <Limits unit="degree" lo="-15" hi="15"/>
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="85.5" z="-102.82"/>
+        <rollpitchyaw roll="-179.3" pitch="35" yaw="90" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Child name="thumb.proximalJoint"/>
+  <Child name="thumb.fingerBase"/>
+</RobotNode>
+
+<RobotNode name="thumb.proximalJoint">
+  <Joint type="revolute">
+  <Axis x="0" y="0" z="1"/>
+  <Limits unit="degree" lo="-4" hi="75"/>
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="90" pitch="0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Child name="thumb.middleJoint"/>
+  <Child name="thumb.proximalPhalanx"/>
+</RobotNode>
+
+<RobotNode name="thumb.middleJoint">
+  <Joint type="revolute">
+  <Axis x="0" y="0" z="1"/>
+  <Limits unit="degree" lo="4" hi="75"/>
+    <PreJointTransform>
+      <Transform>
+        <Translation x="67.8" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="-0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Child name="thumb.distalJoint"/>
+  <Child name="thumb.middlePhalanx"/>
+</RobotNode>
+
+<RobotNode name="thumb.distalJoint">
+  <Joint type="revolute">
+  <Axis x="0" y="0" z="1"/>
+  <Limits unit="degree" lo="4" hi="75"/>
+    <PreJointTransform>
+      <Transform>
+        <Translation x="30" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="-0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Child name="thumb.distalPhalanx"/>
+</RobotNode>
+
+<RobotNode name="forefinger.baseJoint">
+  <Joint type="revolute">
+  <Axis x="0" y="0" z="1"/>
+  <Limits unit="degree" lo="-15" hi="15"/>
+    <PreJointTransform>
+      <Transform>
+        <Translation x="-3" y="40.25" z="155.84"/>
+        <rollpitchyaw roll="0" pitch="-90" yaw="-177.967" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Child name="forefinger.proximalJoint"/>
+  <Child name="forefinger.fingerBase"/>
+</RobotNode>
+
+<RobotNode name="forefinger.proximalJoint">
+  <Joint type="revolute">
+  <Axis x="0" y="0" z="1"/>
+  <Limits unit="degree" lo="-4" hi="75"/>
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="90" pitch="0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Child name="forefinger.middleJoint"/>
+  <Child name="forefinger.proximalPhalanx"/>
+</RobotNode>
+
+<RobotNode name="forefinger.middleJoint">
+  <Joint type="revolute">
+  <Axis x="0" y="0" z="1"/>
+  <Limits unit="degree" lo="4" hi="75"/>
+    <PreJointTransform>
+      <Transform>
+        <Translation x="67.8" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="-0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Child name="forefinger.distalJoint"/>
+  <Child name="forefinger.middlePhalanx"/>
+</RobotNode>
+
+<RobotNode name="forefinger.distalJoint">
+  <Joint type="revolute">
+  <Axis x="0" y="0" z="1"/>
+  <Limits unit="degree" lo="4" hi="75"/>
+    <PreJointTransform>
+      <Transform>
+        <Translation x="30" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="-0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Child name="forefinger.distalPhalanx"/>
+</RobotNode>
+
+<RobotNode name="middlefinger.baseJoint">
+  <Joint type="revolute">
+  <Axis x="0" y="0" z="1"/>
+  <Limits unit="degree" lo="-15" hi="15"/>
+    <PreJointTransform>
+      <Transform>
+        <Translation x="-3" y="0" z="160.56"/>
+        <rollpitchyaw roll="0" pitch="-90" yaw="-177.967" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Child name="middlefinger.proximalJoint"/>
+  <Child name="middlefinger.fingerBase"/>
+</RobotNode>
+
+<RobotNode name="middlefinger.proximalJoint">
+  <Joint type="revolute">
+  <Axis x="0" y="0" z="1"/>
+  <Limits unit="degree" lo="-4" hi="75"/>
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="90" pitch="0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Child name="middlefinger.middleJoint"/>
+  <Child name="middlefinger.proximalPhalanx"/>
+</RobotNode>
+
+<RobotNode name="middlefinger.middleJoint">
+  <Joint type="revolute">
+  <Axis x="0" y="0" z="1"/>
+  <Limits unit="degree" lo="4" hi="75"/>
+    <PreJointTransform>
+      <Transform>
+        <Translation x="67.8" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="-0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Child name="middlefinger.distalJoint"/>
+  <Child name="middlefinger.middlePhalanx"/>
+</RobotNode>
+
+<RobotNode name="middlefinger.distalJoint">
+  <Joint type="revolute">
+  <Axis x="0" y="0" z="1"/>
+  <Limits unit="degree" lo="4" hi="75"/>
+    <PreJointTransform>
+      <Transform>
+        <Translation x="30" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="-0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Child name="middlefinger.distalPhalanx"/>
+</RobotNode>
+
+<RobotNode name="ringfinger.baseJoint">
+  <Joint type="revolute">
+  <Axis x="0" y="0" z="1"/>
+  <Limits unit="degree" lo="-15" hi="15"/>
+    <PreJointTransform>
+      <Transform>
+        <Translation x="-3" y="-40.25" z="155.84"/>
+        <rollpitchyaw roll="0" pitch="-90" yaw="178.033" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Child name="ringfinger.proximalJoint"/>
+  <Child name="ringfinger.fingerBase"/>
+</RobotNode>
+
+<RobotNode name="ringfinger.proximalJoint">
+  <Joint type="revolute">
+  <Axis x="0" y="0" z="1"/>
+  <Limits unit="degree" lo="-4" hi="75"/>
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="90" pitch="0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Child name="ringfinger.middleJoint"/>
+  <Child name="ringfinger.proximalPhalanx"/>
+</RobotNode>
+
+<RobotNode name="ringfinger.middleJoint">
+  <Joint type="revolute">
+  <Axis x="0" y="0" z="1"/>
+  <Limits unit="degree" lo="4" hi="75"/>
+    <PreJointTransform>
+      <Transform>
+        <Translation x="67.8" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="-0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Child name="ringfinger.distalJoint"/>
+  <Child name="ringfinger.middlePhalanx"/>
+</RobotNode>
+
+<RobotNode name="ringfinger.distalJoint">
+  <Joint type="revolute">
+  <Axis x="0" y="0" z="1"/>
+  <Limits unit="degree" lo="4" hi="75"/>
+    <PreJointTransform>
+      <Transform>
+        <Translation x="30" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="-0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Child name="ringfinger.distalPhalanx"/>
+</RobotNode>
+
+<RobotNode name="thumbBase">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="-0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <File type="Inventor">model/thumbBaseRight.wrl</File>
+  </Visualization>
+  <CollisionModel boundingbox="false">
+    <File type="Inventor">model/thumbBaseRightCD.wrl</File>
+  </CollisionModel>
+</RobotNode>
+
+<RobotNode name="thumb.fingerBase">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="180" pitch="0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <File type="Inventor">model/fingerBase.wrl</File>
+  </Visualization>
+  <CollisionModel boundingbox="false">
+    <File type="Inventor">model/fingerBaseCD.wrl</File>
+  </CollisionModel>
+</RobotNode>
+
+<RobotNode name="thumb.proximalPhalanx">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="-0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <File type="Inventor">model/fingerPhaProx.wrl</File>
+  </Visualization>
+  <CollisionModel boundingbox="false">
+    <File type="Inventor">model/fingerPhaProxCD.wrl</File>
+  </CollisionModel>
+</RobotNode>
+
+<RobotNode name="thumb.middlePhalanx">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="-0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <File type="Inventor">model/fingerPhaMid.wrl</File>
+  </Visualization>
+  <CollisionModel boundingbox="false">
+    <File type="Inventor">model/fingerPhaMidCD.wrl</File>
+  </CollisionModel>
+</RobotNode>
+
+<RobotNode name="thumb.distalPhalanx">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="1.25" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <File type="Inventor">model/fingerPhaDist.wrl</File>
+  </Visualization>
+  <CollisionModel boundingbox="false"> 
+    <File type="Inventor">model/fingerPhaDistCD.wrl</File>
+  </CollisionModel>
+</RobotNode>
+
+<RobotNode name="forefinger.fingerBase">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="180" pitch="0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <File type="Inventor">model/fingerBase.wrl</File>
+  </Visualization>
+  <CollisionModel boundingbox="false">
+    <File type="Inventor">model/fingerBaseCD.wrl</File>
+  </CollisionModel>
+</RobotNode>
+
+<RobotNode name="forefinger.proximalPhalanx">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="-0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <File type="Inventor">model/fingerPhaProx.wrl</File>
+  </Visualization>
+  <CollisionModel boundingbox="false">
+    <File type="Inventor">model/fingerPhaProxCD.wrl</File>
+  </CollisionModel>
+</RobotNode>
+
+<RobotNode name="forefinger.middlePhalanx">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="-0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <File type="Inventor">model/fingerPhaMid.wrl</File>
+  </Visualization>
+  <CollisionModel boundingbox="false">
+    <File type="Inventor">model/fingerPhaMidCD.wrl</File>
+  </CollisionModel>
+</RobotNode>
+
+<RobotNode name="forefinger.distalPhalanx">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="1.25" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <File type="Inventor">model/fingerPhaDist.wrl</File>
+  </Visualization>
+  <CollisionModel boundingbox="false">
+    <File type="Inventor">model/fingerPhaDistCD.wrl</File>
+  </CollisionModel>
+</RobotNode>
+
+<RobotNode name="middlefinger.fingerBase">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="180" pitch="0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <File type="Inventor">model/fingerBase.wrl</File>
+  </Visualization>
+  <CollisionModel boundingbox="false">
+    <File type="Inventor">model/fingerBaseCD.wrl</File>
+  </CollisionModel>
+</RobotNode>
+
+<RobotNode name="middlefinger.proximalPhalanx">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="-0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <File type="Inventor">model/fingerPhaProx.wrl</File>
+  </Visualization>
+  <CollisionModel boundingbox="false">
+    <File type="Inventor">model/fingerPhaProxCD.wrl</File>
+  </CollisionModel>
+</RobotNode>
+
+<RobotNode name="middlefinger.middlePhalanx">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="-0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <File type="Inventor">model/fingerPhaMid.wrl</File>
+  </Visualization>
+  <CollisionModel boundingbox="false">
+    <File type="Inventor">model/fingerPhaMidCD.wrl</File>
+  </CollisionModel>
+</RobotNode>
+
+<RobotNode name="middlefinger.distalPhalanx">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="1.25" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <File type="Inventor">model/fingerPhaDist.wrl</File>
+  </Visualization>
+  <CollisionModel boundingbox="false">
+    <File type="Inventor">model/fingerPhaDistCD.wrl</File>
+  </CollisionModel>
+</RobotNode>
+
+<RobotNode name="ringfinger.fingerBase">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="180" pitch="0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <File type="Inventor">model/fingerBase.wrl</File>
+  </Visualization>
+  <CollisionModel boundingbox="false">
+    <File type="Inventor">model/fingerBaseCD.wrl</File>
+  </CollisionModel>
+</RobotNode>
+
+<RobotNode name="ringfinger.proximalPhalanx">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="-0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <File type="Inventor">model/fingerPhaProx.wrl</File>
+  </Visualization>
+  <CollisionModel boundingbox="false">
+    <File type="Inventor">model/fingerPhaProxCD.wrl</File>
+  </CollisionModel>
+</RobotNode>
+
+<RobotNode name="ringfinger.middlePhalanx">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="-0" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <File type="Inventor">model/fingerPhaMid.wrl</File>
+  </Visualization>
+  <CollisionModel boundingbox="false">
+    <File type="Inventor">model/fingerPhaMidCD.wrl</File>
+  </CollisionModel>
+</RobotNode>
+
+<RobotNode name="ringfinger.distalPhalanx">
+  <Joint type="fixed">
+    <PreJointTransform>
+      <Transform>
+        <Translation x="0" y="0" z="0"/>
+        <rollpitchyaw roll="0" pitch="1.25" yaw="0" unitsAngle="degree"/>
+      </Transform>
+    </PreJointTransform>
+  </Joint>
+  <Visualization enable="true">
+    <File type="Inventor">model/fingerPhaDist.wrl</File>
+  </Visualization>
+  <CollisionModel boundingbox="false">
+    <File type="Inventor">model/fingerPhaDistCD.wrl</File>
+  </CollisionModel>
+</RobotNode>
+
+<!-- END EFFECTOR -->
+<Endeffector name="Right Hand" base="Right Hand Init" tcp="Right Arm TCP" gcp="Right Arm GCP">
+  <Preshape name="Grasp Preshape">
+    <Node name="thumbPalmJoint" unit="degree" value="90"/>   
+    <Node name="thumb.baseJoint" unit="radian" value="0"/>
+    <Node name="thumb.proximalJoint" unit="radian" value="0"/>
+    <Node name="thumb.middleJoint" unit="radian" value="0"/>
+    <Node name="thumb.distalJoint" unit="radian" value="0"/>
+
+    <Node name="forefinger.baseJoint" unit="radian" value="0"/>
+    <Node name="forefinger.proximalJoint" unit="radian" value="0"/>
+    <Node name="forefinger.middleJoint" unit="radian" value="0"/>
+    <Node name="forefinger.distalJoint" unit="radian" value="0"/>
+    
+    <Node name="middlefinger.baseJoint" unit="radian" value="0"/>
+    <Node name="middlefinger.proximalJoint" unit="radian" value="0"/>
+    <Node name="middlefinger.middleJoint" unit="radian" value="0"/>
+    <Node name="middlefinger.distalJoint" unit="radian" value="0"/>
+
+    <Node name="ringfinger.baseJoint" unit="radian" value="0"/>
+    <Node name="ringfinger.proximalJoint" unit="radian" value="0"/>
+    <Node name="ringfinger.middleJoint" unit="radian" value="0"/>
+    <Node name="ringfinger.distalJoint" unit="radian" value="0"/>
+  </Preshape>
+
+  <Static> 
+    <Node name="Right Hand Palm"/>
+    <Node name="thumbBase"/>
+    <Node name="thumb.fingerBase"/>
+  </Static>
+  <Actor name="Right Hand Thumb">
+    <Node name="thumb.proximalJoint" considerCollisions="None"/>
+    <Node name="thumb.middleJoint" considerCollisions="None"/>
+    <Node name="thumb.distalJoint" considerCollisions="None"/>
+    <Node name="thumb.proximalPhalanx" considerCollisions="Actors"/>
+    <Node name="thumb.middlePhalanx" considerCollisions="All"/>
+    <Node name="thumb.distalPhalanx" considerCollisions="All"/>
+  </Actor>
+  <Actor name="Right Hand Forefinger">
+    <Node name="forefinger.proximalJoint" considerCollisions="None"/>
+    <Node name="forefinger.middleJoint" considerCollisions="None"/>
+    <Node name="forefinger.distalJoint" considerCollisions="None"/>
+    <Node name="forefinger.proximalPhalanx" considerCollisions="Actors"/>
+    <Node name="forefinger.middlePhalanx" considerCollisions="All"/>
+    <Node name="forefinger.distalPhalanx" considerCollisions="All"/>
+  </Actor>
+  <Actor name="Right Hand Middle Finger">
+    <Node name="middlefinger.proximalJoint" considerCollisions="None"/>
+    <Node name="middlefinger.middleJoint" considerCollisions="None"/>
+    <Node name="middlefinger.distalJoint" considerCollisions="None"/>
+    <Node name="middlefinger.proximalPhalanx" considerCollisions="Actors"/>
+    <Node name="middlefinger.middlePhalanx" considerCollisions="All"/>
+    <Node name="middlefinger.distalPhalanx" considerCollisions="All"/>
+  </Actor> 
+  <Actor name="Right Hand Ring Finger">
+    <Node name="ringfinger.proximalJoint" considerCollisions="None"/>
+    <Node name="ringfinger.middleJoint" considerCollisions="None"/>
+    <Node name="ringfinger.distalJoint" considerCollisions="None"/>
+    <Node name="ringfinger.proximalPhalanx" considerCollisions="Actors"/>
+    <Node name="ringfinger.middlePhalanx" considerCollisions="All"/>
+    <Node name="ringfinger.distalPhalanx" considerCollisions="All"/>
+  </Actor>
+</Endeffector>
+
+<!-- Robot Node Sets -->
+<RobotNodeSet name="Right Hand Joints">
+  <Node name="thumbPalmJoint"/>
+  <Node name="thumb.baseJoint"/>
+  <Node name="thumb.proximalJoint"/>
+  <Node name="thumb.middleJoint"/>
+  <Node name="thumb.distalJoint"/>
+  <Node name="forefinger.baseJoint"/>
+  <Node name="forefinger.proximalJoint"/>
+  <Node name="forefinger.middleJoint"/>
+  <Node name="forefinger.distalJoint"/>
+  <Node name="middlefinger.baseJoint"/>
+  <Node name="middlefinger.proximalJoint"/>
+  <Node name="middlefinger.middleJoint"/>
+  <Node name="middlefinger.distalJoint"/>
+  <Node name="ringfinger.baseJoint"/>
+  <Node name="ringfinger.proximalJoint"/>
+  <Node name="ringfinger.middleJoint"/>
+  <Node name="ringfinger.distalJoint"/>
+</RobotNodeSet>
+
+</Robot>
diff --git a/VirtualRobot/data/robots/Schunk_SAH/model/fingerBase.wrl b/VirtualRobot/data/robots/Schunk_SAH/model/fingerBase.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..49745fa0ed2093ef1c1ee3dc1cef3555cc86c380
--- /dev/null
+++ b/VirtualRobot/data/robots/Schunk_SAH/model/fingerBase.wrl
@@ -0,0 +1,730 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
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+  translation 0 0 0
+  children
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+}
diff --git a/VirtualRobot/data/robots/Schunk_SAH/model/fingerBaseCD.wrl b/VirtualRobot/data/robots/Schunk_SAH/model/fingerBaseCD.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..33bb8cc940b2e87fcfc343e687d6dfe44375c308
--- /dev/null
+++ b/VirtualRobot/data/robots/Schunk_SAH/model/fingerBaseCD.wrl
@@ -0,0 +1,79 @@
+#VRML V2.0 utf8
+
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+}
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+}
diff --git a/VirtualRobot/data/robots/Schunk_SAH/model/fingerPhaDist.wrl b/VirtualRobot/data/robots/Schunk_SAH/model/fingerPhaDist.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..2df83b22e35282c8a198b0fb22edbcf15b8d05f2
--- /dev/null
+++ b/VirtualRobot/data/robots/Schunk_SAH/model/fingerPhaDist.wrl
@@ -0,0 +1,812 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
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+  translation 0 0 0
+  children
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diff --git a/VirtualRobot/data/robots/Schunk_SAH/model/fingerPhaDistCD.wrl b/VirtualRobot/data/robots/Schunk_SAH/model/fingerPhaDistCD.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..0802b545f0f47d85e596e5b7bc4eb6f4381cbd0a
--- /dev/null
+++ b/VirtualRobot/data/robots/Schunk_SAH/model/fingerPhaDistCD.wrl
@@ -0,0 +1,90 @@
+#VRML V2.0 utf8
+
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diff --git a/VirtualRobot/data/robots/Schunk_SAH/model/fingerPhaMid.wrl b/VirtualRobot/data/robots/Schunk_SAH/model/fingerPhaMid.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..572915b2d109124df0d09efc64e6670330fcc845
--- /dev/null
+++ b/VirtualRobot/data/robots/Schunk_SAH/model/fingerPhaMid.wrl
@@ -0,0 +1,890 @@
+#VRML V2.0 utf8
+
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+
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+}
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diff --git a/VirtualRobot/data/robots/Schunk_SAH/model/fingerPhaMidCD.wrl b/VirtualRobot/data/robots/Schunk_SAH/model/fingerPhaMidCD.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f8b80207b6f0842cb74d2f6ff9033f80dda96729
--- /dev/null
+++ b/VirtualRobot/data/robots/Schunk_SAH/model/fingerPhaMidCD.wrl
@@ -0,0 +1,71 @@
+#VRML V2.0 utf8
+
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+
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+	type [ "EXAMINE", "ANY" ]
+}
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diff --git a/VirtualRobot/data/robots/Schunk_SAH/model/fingerPhaProx.wrl b/VirtualRobot/data/robots/Schunk_SAH/model/fingerPhaProx.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..8d80781db70c07f0225549fd817a8fb5943a8d6e
--- /dev/null
+++ b/VirtualRobot/data/robots/Schunk_SAH/model/fingerPhaProx.wrl
@@ -0,0 +1,1392 @@
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+
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+          1974,1983,1982,-1, 1974,1984,1983,-1, 1975,1984,1974,-1, 1985,1987,1986,-1, 1985,1988,1987,-1, 1990,1993,1989,-1, 
+          1991,1992,1990,-1, 1992,1993,1990,-1
+        ]
+      }
+      appearance Appearance
+      {
+        material Material
+        {
+	       ambientIntensity 0.2
+	       diffuseColor 0.9 0.9 0.9
+	       specularColor .1 .1 .1
+	       shininess .5
+        }
+      }
+    }
+  ]
+}
diff --git a/VirtualRobot/data/robots/Schunk_SAH/model/fingerPhaProxCD.wrl b/VirtualRobot/data/robots/Schunk_SAH/model/fingerPhaProxCD.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..032bfee71ba444c13c35abaf8b3fc324e179cc42
--- /dev/null
+++ b/VirtualRobot/data/robots/Schunk_SAH/model/fingerPhaProxCD.wrl
@@ -0,0 +1,86 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
+    Shape
+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
+        solid FALSE
+        coord Coordinate
+        {
+          point
+          [
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+            0.04634 0.00025 -0.015796
+          ]
+        }
+        coordIndex
+        [
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+          44,67,62,-1, 65,63,64,-1, 76,66,17,-1, 74,67,72,-1, 69,40,68,-1, 70,34,39,-1, 
+          70,39,71,-1, 76,63,58,-1, 75,72,73,-1, 72,75,74,-1, 69,34,70,-1, 66,76,58,-1
+        ]
+      }
+      appearance Appearance
+      {
+        material Material
+        {
+	       ambientIntensity 0.2
+	       diffuseColor 0.9 0.9 0.9
+	       specularColor .1 .1 .1
+	       shininess .5
+        }
+      }
+    }
+  ]
+}
diff --git a/VirtualRobot/data/robots/Schunk_SAH/model/palmLeft.wrl b/VirtualRobot/data/robots/Schunk_SAH/model/palmLeft.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e653e24e363b163c247a4a965927b9a3e446e365
--- /dev/null
+++ b/VirtualRobot/data/robots/Schunk_SAH/model/palmLeft.wrl
@@ -0,0 +1,2218 @@
+#VRML V2.0 utf8
+
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+        {
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+    }
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+}
diff --git a/VirtualRobot/data/robots/Schunk_SAH/model/palmLeftCD.wrl b/VirtualRobot/data/robots/Schunk_SAH/model/palmLeftCD.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..5fe778457d5405ad950b12503b67dd233d3197a1
--- /dev/null
+++ b/VirtualRobot/data/robots/Schunk_SAH/model/palmLeftCD.wrl
@@ -0,0 +1,116 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
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+  translation 0 0 0
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+}
diff --git a/VirtualRobot/data/robots/Schunk_SAH/model/palmRight2.wrl b/VirtualRobot/data/robots/Schunk_SAH/model/palmRight2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..68ae243508c6e10fe858e6fd6b44fbb8c0dcc06d
--- /dev/null
+++ b/VirtualRobot/data/robots/Schunk_SAH/model/palmRight2.wrl
@@ -0,0 +1,2228 @@
+#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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+          3299,3300,3297,-1
+        ]
+      }
+      appearance Appearance
+      {
+        material Material
+        {
+	       ambientIntensity 0.2
+	       diffuseColor 0.9 0.9 0.9
+	       specularColor .1 .1 .1
+	       shininess .5
+        }
+      }
+    }
+  ]
+}
diff --git a/VirtualRobot/data/robots/Schunk_SAH/model/palmRight2CD.wrl b/VirtualRobot/data/robots/Schunk_SAH/model/palmRight2CD.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..747b06c32793831fa5a30b07ac170561cebd1f79
--- /dev/null
+++ b/VirtualRobot/data/robots/Schunk_SAH/model/palmRight2CD.wrl
@@ -0,0 +1,116 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
+    Shape
+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
+        solid FALSE
+        coord Coordinate
+        {
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diff --git a/VirtualRobot/data/robots/Schunk_SAH/model/thumbBaseLeft.wrl b/VirtualRobot/data/robots/Schunk_SAH/model/thumbBaseLeft.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e8699ec0066539bc78471fbbd521698abeb3cfe8
--- /dev/null
+++ b/VirtualRobot/data/robots/Schunk_SAH/model/thumbBaseLeft.wrl
@@ -0,0 +1,675 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
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+        {
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+}
diff --git a/VirtualRobot/data/robots/Schunk_SAH/model/thumbBaseLeftCD.wrl b/VirtualRobot/data/robots/Schunk_SAH/model/thumbBaseLeftCD.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..15f9a6cc76449e5433ee591d2a84e09830ecea63
--- /dev/null
+++ b/VirtualRobot/data/robots/Schunk_SAH/model/thumbBaseLeftCD.wrl
@@ -0,0 +1,90 @@
+#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/VirtualRobot/data/robots/Schunk_SAH/model/thumbBaseRight.wrl b/VirtualRobot/data/robots/Schunk_SAH/model/thumbBaseRight.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..c368b7b826e7e88010785ed3986a8f3ab056aa35
--- /dev/null
+++ b/VirtualRobot/data/robots/Schunk_SAH/model/thumbBaseRight.wrl
@@ -0,0 +1,675 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
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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/VirtualRobot/data/robots/Schunk_SAH/model/thumbBaseRightCD.wrl b/VirtualRobot/data/robots/Schunk_SAH/model/thumbBaseRightCD.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f7c8f7dc4b27005a6f4f054963b4291910d46e86
--- /dev/null
+++ b/VirtualRobot/data/robots/Schunk_SAH/model/thumbBaseRightCD.wrl
@@ -0,0 +1,71 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+	type [ "EXAMINE", "ANY" ]
+}
+Transform {
+  scale 1 1 1
+  translation 0 0 0
+  children
+  [
+    Shape
+    {
+      geometry IndexedFaceSet
+      {
+        creaseAngle .5
+        solid FALSE
+        coord Coordinate
+        {
+          point
+          [
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+      }
+      appearance Appearance
+      {
+        material Material
+        {
+	       ambientIntensity 0.2
+	       diffuseColor 0.9 0.9 0.9
+	       specularColor .1 .1 .1
+	       shininess .5
+        }
+      }
+    }
+  ]
+}
diff --git a/VirtualRobot/data/robots/Schunk_SAH/readme.txt b/VirtualRobot/data/robots/Schunk_SAH/readme.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f1519d5a91c9231139c99e8b0077cc78d2b09bac
--- /dev/null
+++ b/VirtualRobot/data/robots/Schunk_SAH/readme.txt
@@ -0,0 +1,6 @@
+This folder contains a model of the schunk SAH hand (right).
+The model was provided by 
+Yi Li (yi *dot* li *at* outlook *dot* com) and 
+Jean-Philippe Saut (jp_saut *at* hotmail *dot* com).
+The model was used for their ICRA 2013 paper "Fast Grasp Planning by Using Cord Geometry to Find Grasping Points".
+